Active noise control device, active noise control method, and active noise control program

Abstract

To accurately detect a frequency of a dip and stably control noise when a frequency of the noise matches the frequency of the dip.SOLUTION: An active noise control system 1 has an adaptive filter that generates a control signal by performing signal processing of a reference signal generated based on a vibration frequency generated by a vibration source, and successively updates the adaptive filter based on a signal input from a microphone when the control signal is output from a speaker. Acoustic characteristics of a secondary path between the speaker and the microphone, including amplitude and phase information, are obtained, amplitude characteristics of the secondary path with different values depending on the frequency are calculated, the amplitude characteristics are smoothed to generate smoothed signals with different values depending on the frequency, and the amplitude characteristics are divided by the smoothed signals to calculate correction coefficients with different values depending on the frequency. The adaptive filter is updated by subtracting an update term including the correction coefficients from a first adaptive filter coefficient that is a previous adaptive filter coefficient, to obtain a second adaptive filter coefficient.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an active noise control device, an active noise control method, and an active noise control program. [Background technology]

[0002] There is known an active noise control device (ANC) that detects noise with a microphone and cancels the noise by outputting a control sound of the same amplitude but opposite phase from a speaker. Patent Document 1 discloses an active vibration noise control device that changes a step size parameter used to update filter coefficients in one or more filter coefficient update means among a plurality of filter coefficient update means when the vibration noise frequency is in a dip band. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2011 / 101967 Summary of the Invention [Problem to be solved by the invention]

[0004] In the invention described in Patent Document 1, dips are detected based on the average amplitude of the frequency band being controlled, but if there are multiple dips or if the overall amplitude characteristics are not constant, there is a risk that the dips cannot be detected accurately.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to provide an active noise control device, an active noise control method, and an active noise control program that can accurately detect the frequency of a dip and stably control noise even when the frequency of the noise coincides with the frequency of a dip. [Means for solving the problem]

[0006] In order to solve the above problems, the active noise control device according to the present invention is, for example, an active noise control device that has an adaptive filter that performs signal processing on a reference signal generated based on a vibration frequency generated by a vibration source to generate a control signal, and that sequentially updates the adaptive filter based on a signal input from a microphone when the control signal is output from a speaker, and is characterized in that it includes: a reference signal generation unit that generates the reference signal; an amplitude characteristic calculation unit that acquires acoustic characteristics of a secondary path between the speaker and the microphone, the acoustic characteristics including amplitude and phase information, and calculates amplitude characteristics of the secondary path whose values ​​vary depending on frequency based on the acquired acoustic characteristics; a smoothed signal generation unit that smoothes the amplitude characteristics using a low-pass filter to generate a smoothed signal whose value varies depending on frequency; a correction coefficient calculation unit that calculates a correction coefficient whose value varies depending on frequency based on a result of dividing the amplitude characteristics by the smoothed signal; an adaptive filter update unit that updates the adaptive filter by subtracting an update term including the correction coefficient from a first adaptive filter coefficient, which is the immediately preceding adaptive filter coefficient, to obtain a second adaptive filter coefficient; and a control signal generation unit that generates the control signal by multiplying the reference signal by the second adaptive filter coefficient.

[0007] In order to solve the above problems, an active noise control method according to the present invention is, for example, an active noise control method having an adaptive filter that generates a control signal by signal processing a reference signal generated based on a vibration frequency generated by a vibration source, and sequentially updating the adaptive filter based on a signal input from a microphone when the control signal is output from a speaker, and is characterized in including the steps of: acquiring acoustic characteristics of a secondary path between the speaker and the microphone, the acoustic characteristics including amplitude and phase information, and calculating amplitude characteristics of the secondary path whose values ​​vary depending on frequency based on the acquired acoustic characteristics; smoothing the amplitude characteristics using a low-pass filter to generate a smoothed signal whose value varies depending on frequency; a correction coefficient calculation unit that calculates a correction coefficient whose value varies depending on frequency based on a result of dividing the amplitude characteristics by the smoothed signal; updating the adaptive filter by subtracting an update term including the correction coefficient from a first adaptive filter coefficient, which is the immediately preceding adaptive filter coefficient, to obtain a second adaptive filter coefficient; and multiplying the reference signal by the second adaptive filter coefficient to generate the control signal.

[0008] In order to solve the above problems, an active noise control program according to the present invention is, for example, an active noise control program having an adaptive filter that performs signal processing on a reference signal generated based on a vibration frequency generated by a vibration source to generate a control signal, and that sequentially updates the adaptive filter based on a signal input from a microphone when the control signal is output from a speaker, and is characterized in that the program causes a computer to function as a reference signal generation unit that generates the reference signal, an amplitude characteristic calculation unit that acquires acoustic characteristics of a secondary path between the speaker and the microphone, the acoustic characteristics including amplitude and phase information, and calculates amplitude characteristics of the secondary path whose values ​​vary depending on frequency based on the acquired acoustic characteristics, a smoothed signal generation unit that smoothes the amplitude characteristics using a low-pass filter to generate a smoothed signal whose value varies depending on frequency, a correction coefficient calculation unit that calculates a correction coefficient whose value varies depending on frequency based on a result of dividing the amplitude characteristics by the smoothed signal, an adaptive filter update unit that updates the adaptive filter by subtracting an update term including the correction coefficient from a first adaptive filter coefficient that is the immediately preceding adaptive filter coefficient, to obtain a second adaptive filter coefficient, and a control signal generation unit that generates the control signal by multiplying the reference signal by the second adaptive filter coefficient. The computer program can be provided by downloading via a network such as the Internet, or can be provided by recording it on various computer-readable recording media such as a CD-ROM.

[0009] In any of the above aspects of the present invention, a correction coefficient is calculated based on the amplitude characteristics of the secondary path between the speaker and the microphone, the correction coefficient being calculated based on the acoustic characteristics of the secondary path between the speaker and the microphone, divided by a smoothed signal obtained by smoothing the amplitude characteristics, and an update term including the correction coefficient is subtracted from the immediately preceding adaptive filter coefficient to update the adaptive filter. A control signal is then generated by multiplying a reference signal generated based on the vibration frequency generated by the vibration source by the updated adaptive filter coefficient. This makes it possible to accurately detect the frequency of the dip and stably control the noise even when the frequency of the noise coincides with the frequency of the dip.

[0010] A threshold value may be set to about 0.5 to about 0.7, and when the correction coefficient is equal to or less than the threshold value, the adaptive filter update unit may set the correction coefficient to 0. This makes it possible to stop updating the adaptive filter at a dip frequency and perform processing that prioritizes stability.

[0011] The adaptive filter update unit may obtain the second adaptive filter coefficient by subtracting the update term from a result of multiplying the first adaptive filter coefficient by a coefficient less than 1. This makes it possible to gradually decrease the adaptive filter coefficient and eliminate unnaturalness.

[0012] The correction coefficient calculation unit may set the result of dividing the amplitude characteristic by the smoothed signal as the correction coefficient when the result is smaller than 1, and may set the correction coefficient as 1 when the result of dividing the amplitude characteristic by the smoothed signal is equal to or greater than 1. This prevents the correction coefficient from exceeding 1, ensuring that the correction process works in a stabilizing direction. Effect of the Invention

[0013] According to the present invention, the frequency of the dip can be accurately detected, and noise can be stably controlled even when the frequency of the noise coincides with the frequency of the dip. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram illustrating a vehicle 100 provided with an active noise control device 1 according to a first embodiment. [Diagram 2] 1 is a block diagram showing an outline of a functional configuration of an active noise control device 1. FIG. [Diagram 3] 1 is a graph showing an example of acoustic characteristics a(f), b(f) of a secondary path and amplitude characteristics A(f) of the secondary path. [Figure 4] 1 is a graph showing an example of the amplitude characteristic A(f) of the secondary path and a smoothed signal A(f)′. [Diagram 5] 1 is a graph showing the relationship between the amplitude characteristic A(f) of the secondary path and the correction coefficient α(f). [Figure 6] 3 is a flowchart showing the flow of processing performed by the active noise control device 1. [Figure 7] 13 is a graph showing the relationship between the amplitude characteristic A(f) of the secondary path and the correction coefficient α(f) in the modified example. [Figure 8] 1 is a graph showing an example of a distribution of a result of dividing an amplitude characteristic A(f) by a smoothed signal A(f)′. [Figure 9] 11 is a graph showing the relationship between the value of a threshold value Th and the rate at which a correction coefficient α(f) is replaced with 0. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of the active noise control device according to the present invention will be described in detail with reference to the drawings. The active noise control device has an adaptive filter that generates a control signal by signal processing a reference signal generated based on the vibration frequency generated by a vibration source, and is a device that sequentially updates the adaptive filter based on a signal input from a microphone when a control signal is output from a speaker. Hereinafter, the present invention will be described using an example of suppressing a noise called booming noise that occurs when vibrations from an automobile engine resonate in the passenger compartment, but the active noise control device of the present invention is not limited to suppressing booming noise.

[0016] 1 is a diagram illustrating a vehicle 100 provided with an active noise control device 1 according to a first embodiment. The active noise control device 1 is connected to a microphone 21, a speaker 22, a CAN (Control Area Network) 25, and the like provided in the vehicle 100. The microphone 21 and the speaker 22 are provided in a passenger compartment 101 of the vehicle 100. In particular, it is desirable to provide the microphone 21 in a position close to the ears of the passengers, such as on the ceiling of the passenger compartment 101.

[0017] In Fig. 1, P is the transfer function (primary path) from the noise source (engine) to the microphone 21, and S is the transfer function (secondary path) from the speaker 22 to the microphone 21. Furthermore, W is an adaptive filter that adjusts the phase and amplitude.

[0018] The active noise control device 1 acquires engine speed information from the CAN 25, generates a sine wave (reference signal) with the same frequency as the muffled sound, generates a control signal by multiplying the reference signal by an adaptive filter coefficient, and outputs the control signal from the speaker 22. As a result, the muffled sound caused by the vibration source (engine) and the sound output from the speaker 22 are input to the microphone 21. The active noise control device 1 then adjusts the phase and amplitude of the reference signal by the adaptive filter W so that the sound detected by the microphone 21 is reduced.

[0019] The active noise control device 1 may be constructed as a dedicated board mounted on a communication terminal or the like (for example, an in-vehicle device) in the vehicle 100. The active noise control device 1 may be configured, for example, mainly by a computer system including an arithmetic device such as a CPU (Central Processing Unit) for executing information processing, a storage device such as a RAM (Random Access Memory) or a ROM (Read Only Memory), and software (active noise control program). The active noise control program may be stored in advance in an SSD as a storage medium built into a device such as a computer, or in a ROM in a microcomputer having a CPU, and installed from there into the computer. The active noise control program may be temporarily or permanently stored (stored) in a removable storage medium such as a semiconductor memory, a memory card, an optical disk, a magneto-optical disk, or a magnetic disk.

[0020] 2 is a block diagram showing an outline of the functional configuration of the active noise control device 1. Functionally, the active noise control device 1 mainly includes a reference signal generating unit 11, a storage unit 12, an amplitude characteristic calculating unit 13, a smoothed signal generating unit 14, a correction coefficient calculating unit 15, an adaptive filter updating unit 16, a control signal generating unit 17, and a speaker amplifier 18. Note that the functional components of the active noise control device 1 may be further classified into more components depending on the processing content, or one component may execute the processing of multiple components.

[0021] The reference signal generating unit 11 is a functional unit that acquires engine speed information from the CAN 25 and generates a reference signal. A method for generating a reference signal by the reference signal generating unit 11 will be described below. The reference signal generating unit 11 performs the following calculation at each sampling time t=0, 1, 2,...

[0022] First, the reference signal generating unit 11 obtains information on the engine speed and the number of cylinders from the CAN 25, and obtains the frequency f(t) of the booming sound by the following formulas (1) to (3), where (t) means that the signal is time-dependent. For a four-cylinder engine: f(t) = engine speed(t) / 30 (1) For a 6-cylinder engine: f(t) = engine speed(t) / 20 (2) For an 8-cylinder engine: f(t) = engine speed(t) / 15 (3)

[0023] Next, the reference signal generating unit 11 generates a sine wave (reference sine wave) having the same frequency as the muffled sound as a reference signal using the following equation (4).

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[0024] Here, Ω(t) indicates the phase of the reference sine wave and is updated by the following formula (5). Here, f s is the sampling frequency.

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[0025] The storage unit 12 is a functional unit that stores the acoustic characteristics of the secondary path between the speaker 22 and the microphone 21. The acoustic characteristics of the secondary path are measured and calculated in advance before the active noise control device 1 performs processing, and the results are stored in the storage unit 12.

[0026] Here, a method for calculating the acoustic characteristics of the secondary path will be described. The acoustic characteristics of the secondary path are calculated by an acoustic characteristics calculation unit (not shown). The acoustic characteristics calculation unit may be included in the active noise control device 1, or may be included in another information processing device connected to the active noise control device 1.

[0027] First, a sweep wave of 30 Hz to 200 Hz is sent from the speaker 22. The sweep wave y(t) at this time is expressed by the following formula (6).

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[0028] If the observed signal of the microphone is d(t), the predicted signal is predicted as shown in the following formula (7). Note that a(f) and b(f) are the acoustic characteristics of the secondary path. The acoustic characteristics of the secondary path, a(f) and b(f), are the cosine and sine coefficients, respectively, and contain the amplitude and phase information of the secondary path. Note that (f) means that the signal is frequency dependent.

number

[0029] The LMS algorithm is used to find the acoustic characteristics a(f) and b(f) of the secondary path that minimize the prediction error. The prediction error e(t) is found using the following formula (8), and the acoustic characteristics a(f) and b(f) of the secondary path are found using the following sequential update formula (9).

number

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[0030] The storage unit 12 stores the acoustic characteristics a(f) and b(f) of the secondary path calculated by Equation (9). The acoustic characteristics a(f) and b(f) of the secondary path are held in a table using frequency as an argument. In this embodiment, the acoustic characteristics a(f) and b(f) of the secondary path are calculated by the LMS algorithm, but the method for calculating the acoustic characteristics a(f) and b(f) of the secondary path is not limited to this, and various known methods such as discrete Fourier transform of impulse response can be used.

[0031] The amplitude characteristic calculation unit 13 is a functional unit that acquires the acoustic characteristics stored in the storage unit 12 and calculates the amplitude characteristic of the secondary path based on the acoustic characteristics. The amplitude characteristic A(f) of the secondary path is calculated by the following formula (10).

number

[0032] FIG. 3 is a graph showing an example of the acoustic characteristics a(f), b(f) of the secondary path and the amplitude characteristic A(f) of the secondary path. In FIG. 3, the acoustic characteristics a(f), b(f) of the secondary path are shown by a dotted line and a dashed line, and the amplitude characteristic A(f) of the secondary path is shown by a solid line. The horizontal axis of FIG. 3 is frequency, and the vertical axis is amplitude. The acoustic characteristics a(f), b(f) of the secondary path and the amplitude characteristic A(f) of the secondary path are frequency-dependent signals, and their values ​​vary depending on the frequency.

[0033] The inside of a vehicle is a closed space, and the amplitude characteristic A(f) of the secondary path is a standing wave with antinodes where the sound pressure changes significantly and nodes where the sound pressure changes very little. The amplitude characteristic A(f) of the secondary path has dips (valleys) where they coincide with the nodes of the standing wave. In Figure 3, the dips are indicated by arrows.

[0034] Returning to the explanation of Fig. 2, the smoothed signal generating unit 14 is a functional unit that smoothes the amplitude characteristic A(f) of the secondary path using a low-pass filter to generate a smoothed signal A(f)'. The smoothed signal A(f)' is a signal that depends on frequency, and its value differs depending on the frequency.

[0035] FIG. 4 is a graph showing an example of the amplitude characteristic A(f) of the secondary path and the smoothed signal A(f)'. In FIG. 4, the amplitude characteristic A(f) of the secondary path is shown by a dashed line, and the smoothed signal A(f)' is shown by a solid line. The horizontal axis of FIG. 4 is frequency, and the vertical axis is amplitude. The smoothed signal A(f)' is a smooth line with no unevenness in the amplitude characteristic A(f) of the secondary path.

[0036] Returning to the explanation of Fig. 2, the correction coefficient calculation unit 15 is a functional unit that calculates a correction coefficient based on the result of dividing the amplitude characteristic A(f) of the secondary path by the smoothed signal A(f)'. The correction coefficient α(f) is found by the following formula (11). The correction coefficient α(f) is a frequency-dependent signal, and its value differs depending on the frequency.

number

[0037] As can be seen from equation (11), when the result of dividing the amplitude characteristic A(f) of the secondary path by the smoothed signal A(f)′ is 1 or more, the correction coefficient α(f) is set to 1.

[0038] FIG. 5 is a graph showing the relationship between the amplitude characteristic A(f) of the secondary path and the correction coefficient α(f). In FIG. 5, the dashed line represents the amplitude characteristic A(f) and the solid line represents the correction coefficient α(f). At a dip (part surrounded by a circle), the amplitude characteristic A(f) of the secondary path becomes equal to or smaller than the smoothed signal A(f)', and the value of the correction coefficient α(f) becomes small. This makes it possible to accurately detect at which frequency the dip exists.

[0039] At the dip frequency, even if a loud sound is output from speaker 22, it is not reflected in the input to microphone 21, and steep characteristics cannot be expressed by an adaptive filter, so that active noise control becomes unstable and, in the worst case, the control signal output from speaker 22 may become unlimitedly large and diverge. In this embodiment, the dip frequency can be reliably detected by using the result obtained by dividing the amplitude characteristic A(f) of the secondary path by the smoothed signal A(f)', so that such problems can be prevented.

[0040] Returning to the description of FIG. 2, the adaptive filter update unit 16 is a functional unit that updates the adaptive filter. In this embodiment, the adaptive filter is updated based on the FxNLMS algorithm (Filtered-x Normalized least mean squares filter). The adaptive filter update will be described in detail below. Note that the adaptive filter is already known, so a description thereof will be omitted.

[0041] First, the adaptive filter update unit 16 updates the Filtered-x signal X by using the acoustic characteristics a(f) and b(f) of the secondary path as shown in the following formula (12). 0 '(t), X 1 'Find (t). X' 0 (t) = a(f)X 0 (t)+b(f)X 1 (t), X' 1 (t) = a(f)X 1 (t)+b(f)X 0 (t) (12)

[0042] Next, the adaptive filter update unit 16 acquires the signal e(t) input to the microphone 21, and updates the Filtered-x signal X 0 '(t), X 1 '(t) and the signal e(t) input to the microphone 21 are used to calculate the adaptive filter coefficients w 0 (t), w 1 Update (t).

number

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[0043] That is, the adaptive filter update unit 16 updates the update term including the correction coefficient (the second term in the formulas (13) and (14)) with the previous adaptive filter coefficient w 0 (t-1), w 1 It is subtracted from (t-1) (corresponding to the first adaptive filter coefficient of the present invention). e(t) / A(f) in the update term indicates how well the sound has been cancelled, and if the sound has been cancelled well, the update term becomes small. Also, μ in the update term is the step size, and adjusts the update speed. The step size μ is a value of 0 or more.

[0044] This embodiment is characterized in that the update term includes a correction coefficient α(f). Since the correction coefficient α(f) is small at the dip frequency, the update of the adaptive filter is suppressed at the dip frequency.

[0045] In equations (13) and (14), γ is the leak coefficient. In equations (13) and (14), the first term is the previous adaptive filter coefficient w 0 (t-1), w 1 (t-1) is multiplied by the leak coefficient γ. The leak coefficient γ is a positive number less than 1, and is preferably close to 1, for example, 0.9997. By setting the leak coefficient γ to a positive number close to 1, the adaptive filter coefficient is prevented from becoming too large. Note that the immediately preceding adaptive filter coefficient w 0 (t-1), w 1 It is not essential to multiply (t-1) by the leak coefficient γ.

[0046] The control signal generator 17 generates a reference signal x 0 (t), x 1 At (t), the adaptive filter coefficients w after being updated by the formulas (13) and (14) (corresponding to the second adaptive filter coefficients of the present invention) 0 (t), w 1(t) to generate a control signal y(t). The control signal y(t) is a signal to be output to a speaker to cancel out noise (here, the rumbling sound of the engine). The control signal generator 17 generates the control signal y(t) using the following formula (15).

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[0047] Furthermore, the control signal generating unit 17 outputs the generated control signal to the speaker amplifier 18. The speaker amplifier 18 amplifies the control signal and outputs it to the speaker 22. Note that the speaker amplifier 18 is not essential.

[0048] FIG. 6 is a flowchart showing the flow of the process performed by the active noise control device 1. <Acoustic characteristic measurement processing> First, the reference signal generating unit 11 generates a reference signal (step SP11), and an acoustic characteristic calculating unit (not shown) updates the acoustic characteristics a(f) and b(f) based on the reference signal (step SP12). When step SP12 is performed for the first time, the acoustic characteristics a(f) and b(f) are generated, and when step SP12 is performed for the second or subsequent time, the acoustic characteristics a(f) and b(f) are updated. Since a sweep wave is used in the acoustic characteristic measurement process, the frequency of the reference signal in step SP11 changes from moment to moment. Therefore, by repeatedly performing the processes of steps SP11 and SP12, acoustic characteristics for various frequencies, i.e., acoustic characteristics a(f) and b(f) that depend on the frequency, can be obtained. The acoustic characteristics a(f) and b(f) obtained in step SP12 are stored in the storage unit 12.

[0049] <Correction coefficient calculation process> The amplitude characteristic calculation unit 13 calculates the amplitude characteristic A(f) of the secondary path based on the acoustic characteristics stored in the storage unit 12 (step SP13). Next, the smoothing signal generation unit 14 smooths the amplitude characteristic A(f) of the secondary path to generate a smoothed signal A(f)' (step SP14). Then, the correction coefficient calculation unit 15 calculates a correction coefficient α(f) based on the result of dividing the amplitude characteristic A(f) of the secondary path by the smoothed signal A(f)' (step SP15).

[0050] <ANC processing> The reference signal generation unit 11 generates a reference signal based on the engine speed acquired from the CAN 25 (step SP16). Next, the adaptive filter update unit 16 acquires the signal e(t) input to the microphone 21, and updates the adaptive filter by subtracting an update term including the correction coefficient α(f) from the immediately previous adaptive filter coefficients (step SP17).

[0051] Next, the control signal generation unit 17 integrates the reference signal generated in step SP16 with the adaptive filter coefficients after being updated in step SP17 to generate a control signal y(t), and outputs it from the speaker 22 (step SP18).

[0052] When the process of step SP18 is completed, the active noise control device 1 returns the process to step SP16. That is, the adaptive filter update unit 16 acquires the signal e(t) input to the microphone 21 when the control signal y(t) generated in step SP18 is output from the speaker 22, updates the adaptive filter using this signal e(t) (step SP17), and the control signal generation unit 17 generates a control signal y(t) based on the updated adaptive filter (step SP18).

[0053] In the ANC process shown in steps SP16 to SP18, the process of generating a reference signal (step SP16) is performed each time. Thereby, a control signal y(t) reflecting the information of the engine speed at that time can be generated.

[0054] According to this embodiment, the frequency of the dip can be accurately detected by dividing the amplitude characteristic A(f) of the secondary path by the smoothed signal A(f)'. Furthermore, the correction coefficient α(f) is calculated using the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)', and the correction coefficient α(f) is used to update the adaptive filter, so that the noise can be stably controlled even when the frequency of the noise coincides with the frequency of the dip.

[0055] Furthermore, according to this embodiment, when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is smaller than 1, the result of the division is set as the correction coefficient α(f), and when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is 1 or greater, the correction coefficient α(f) is set to 1, thereby making it possible to prevent the adaptive filter coefficients from changing significantly due to updating.

[0056] Furthermore, according to this embodiment, in equations (13) and (14) for updating the adaptive filter coefficients, by multiplying the immediately preceding adaptive filter coefficient by a leak coefficient γ, which is a positive number close to 1, it is possible to prevent the adaptive filter coefficients from becoming too large.

[0057] In this embodiment, when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is smaller than 1, the result of the division is set as the correction coefficient α(f), and when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is 1 or more, the correction coefficient α(f) is set to 1, but the method of determining the correction coefficient α(f) is not limited to this. For example, when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is equal to or smaller than a threshold, the correction coefficient α(f) may be set to 0.

[0058] Below, we will explain a modified example in which, when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is equal to or less than the threshold, the correction coefficient α(f) is set to 0. Note that this modified example differs only in that, when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is equal to or less than the threshold, the correction coefficient α(f) is set to 0; other processing is unchanged.

[0059] Fig. 7 is a graph showing the relationship between the amplitude characteristic A(f) of the secondary path and the correction coefficient α(f) when the correction coefficient α(f) is set to 0 when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is equal to or less than the threshold Th. Fig. 7 shows an example in which a sweep wave of 30 Hz to 200 Hz is output from speaker 22 in the vehicle cabin and threshold Th is set to 0.7, similar to Fig. 5. In Fig. 7, the dashed line indicates the amplitude characteristic A(f) and the solid line indicates the correction coefficient α(f).

[0060] Among the dip frequencies, at frequencies where the difference between the amplitude characteristic A(f) and the smoothed signal A(f)' is large, the correction coefficient α(f) is 0. For other frequencies, the correction coefficient α(f) shown in Fig. 7 is the same as the correction coefficient α(f) shown in Fig. 5.

[0061] In this embodiment, the threshold value Th is set to about 0.5 to about 0.7. The threshold value Th will be described below.

[0062] 8 is a graph showing an example of a distribution of a result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' when a sweep wave of 30 Hz to 200 Hz is output from speaker 22 inside the vehicle. The result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' has a mode of 1 and a mountain-shaped distribution having one peak. As shown in formula (11), when the result of dividing the amplitude characteristic A(f) by the smoothed signal A(f)' is greater than 1, the correction coefficient α(f) is 1. Therefore, it can be seen from the graph in FIG. 8 that the correction coefficient α(f) is likely to be 1 and is unlikely to be 0.5 or less.

[0063] Fig. 9 is a graph showing the relationship between the value of the threshold Th and the rate at which the correction coefficient α(f) is replaced with 0. Fig. 9 is generated based on the histogram shown in Fig. 8. In Fig. 9, the horizontal axis is the threshold Th, and the vertical axis is the rate at which the correction coefficient α(f) is replaced with 0 (i.e., the rate of dips).

[0064] When the threshold value Th is close to 0, the frequency at which the adaptive filter update stops decreases, and when the threshold value Th is large, the frequency at which the adaptive filter update stops increases. For example, when the threshold value is 1, about 48% of the frequencies are judged to be dips. As a result, the adaptive filter update is suppressed more than necessary.

[0065] When the correction coefficient α(f) is extremely small, in order to stop updating the adaptive filter for frequencies that correspond to so-called outliers, it is desirable to set the rate at which updating of the adaptive filter is stopped to about 5% to 10%. Referring to Fig. 9, when the threshold value Th is set to about 0.5 to about 0.7, the rate at which the correction coefficient α(f) is replaced with 0 (the rate at which updating of the adaptive filter is stopped) is 5% to 10%.

[0066] For example, when the threshold value Th is set to 0.7, the correction coefficient α(f) becomes 0 at approximately 10% of the frequency, as shown in Fig. 9. By setting the correction coefficient α(f) to 0 at approximately 10% of the frequency, the correction coefficient α(f) becomes 0 only in the portion of an extreme dip, as shown in Fig. 7.

[0067] In this manner, in this modification, by stopping updating of the adaptive filter at the dip frequency, it is possible to perform processing that prioritizes stability.

[0068] In this modification, in the formulas (13) and (14) for updating the adaptive filter coefficients, the previous adaptive filter coefficient is multiplied by a leak coefficient γ, which is a positive number close to 1, so that when the correction coefficient α(f) becomes 0, the adaptive filter coefficient is gradually decreased, and finally the adaptive filter coefficient becomes 0. If the adaptive filter coefficient is made 0 at the same time that the correction coefficient α(f) becomes 0, a discontinuous sound such as a "pop" occurs, or a sudden change in volume occurs, resulting in an unnatural sound. In contrast, in this modification, the unnaturalness can be eliminated by multiplying the previous adaptive filter coefficient by the leak coefficient γ to gradually decrease the adaptive filter coefficient.

[0069] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like that do not deviate from the gist of the present invention are also included. [Explanation of symbols]

[0070] 1: Active noise control device 11:Reference signal generation section 12: Storage section 13: Amplitude characteristic calculation section 14: Smoothing signal generation section 15: Correction coefficient calculation section 16: Adaptive filter update section 17: Control signal generating unit 18: Speaker amplifier 21: Microphone 22: Speaker 25:CAN 100: Vehicle 101: Vehicle interior

Claims

1. An active noise control device having an adaptive filter that generates a control signal by signal processing a reference signal generated based on a vibration frequency generated by a vibration source, and sequentially updating the adaptive filter based on a signal input from a microphone when the control signal is output from a speaker, A reference signal generating unit that generates the reference signal; an amplitude characteristic calculation unit that acquires acoustic characteristics of a secondary path between the speaker and the microphone, the acoustic characteristics including amplitude and phase information, and calculates amplitude characteristics of the secondary path that differ depending on a frequency based on the acquired acoustic characteristics; a smoothed signal generating unit that smoothes the amplitude characteristic using a low-pass filter to generate a smoothed signal whose value varies depending on frequency; a correction coefficient calculation unit that calculates a correction coefficient whose value varies depending on a frequency based on a result of dividing the amplitude characteristic by the smoothed signal; an adaptive filter update unit that updates the adaptive filter by subtracting an update term including the correction coefficient from a first adaptive filter coefficient that is an immediately preceding adaptive filter coefficient, to obtain a second adaptive filter coefficient; a control signal generating unit that generates the control signal by multiplying the reference signal by the second adaptive filter coefficient; An active noise control device comprising:

2. A threshold is set to 0.5 to 0.7, The adaptive filter update unit sets the correction coefficient to 0 when the correction coefficient is equal to or smaller than the threshold value.

2. The active noise control device according to claim 1.

3. The adaptive filter update unit obtains the second adaptive filter coefficient by subtracting the update term from a result of multiplying the first adaptive filter coefficient by a coefficient less than 1.

3. An active noise control device according to claim 1 or 2.

4. The correction coefficient calculation unit sets the result of dividing the amplitude characteristic by the smoothed signal as the correction coefficient when the result is smaller than 1, and sets the correction coefficient as 1 when the result of dividing the amplitude characteristic by the smoothed signal is 1 or more.

4. An active noise control device according to claim 1, wherein the first and second components are arranged in a first direction.

5. An active noise control method comprising: an adaptive filter that generates a control signal by performing signal processing on a reference signal that is generated based on a vibration frequency generated by a vibration source; and sequentially updating the adaptive filter based on a signal input from a microphone when the control signal is output from a speaker, the method comprising: A step of acquiring acoustic characteristics of a secondary path between the speaker and the microphone, the acoustic characteristics including amplitude and phase information, and calculating an amplitude characteristic of the secondary path having a value that varies depending on a frequency based on the acquired acoustic characteristics; smoothing the amplitude characteristic using a low pass filter to generate a smoothed signal having a value that varies depending on frequency; a correction coefficient calculation unit that calculates a correction coefficient whose value varies depending on a frequency based on a result of dividing the amplitude characteristic by the smoothed signal; a step of updating the adaptive filter by subtracting an update term including the correction coefficient from a first adaptive filter coefficient which is an immediately preceding adaptive filter coefficient, to obtain a second adaptive filter coefficient; multiplying the reference signal by the second adaptive filter coefficient to generate the control signal; 11. A method for active noise control comprising:

6. An active noise control program having an adaptive filter that generates a control signal by signal processing a reference signal generated based on a vibration frequency generated by a vibration source, and sequentially updating the adaptive filter based on a signal input from a microphone when the control signal is output from a speaker, Computer, a reference signal generating unit for generating the reference signal; an amplitude characteristic calculation unit that acquires acoustic characteristics of a secondary path between the speaker and the microphone, the acoustic characteristics including amplitude and phase information, and calculates amplitude characteristics of the secondary path that differ depending on frequency based on the acquired acoustic characteristics; a smoothed signal generating unit that smoothes the amplitude characteristic using a low-pass filter to generate a smoothed signal whose value varies depending on the frequency; a correction coefficient calculation unit that calculates a correction coefficient whose value varies depending on a frequency based on a result of dividing the amplitude characteristic by the smoothed signal; an adaptive filter update unit that updates the adaptive filter by subtracting an update term including the correction coefficient from a first adaptive filter coefficient that is an immediately preceding adaptive filter coefficient, to obtain a second adaptive filter coefficient; a control signal generating unit that generates the control signal by multiplying the reference signal by the second adaptive filter coefficient; The active noise control program is characterized by causing the program to function as follows.

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