Accuracy Verification of Stored Secondary Paths for Vehicle-Based Active Noise Control Systems

Abstract

To provide a stored secondary path accuracy verification for vehicle-based active noise control systems.SOLUTION: An active noise cancellation (ANC) system 500 validates the accuracy of a modeled transfer characteristic S'(z) stored in a secondary path filter 522, and provides an estimate value of an actual secondary path S(z). Using an estimated anti-noise signal Y'(n) or a music signal M'(n) to adjust an error signal e(n) from an error microphone 512, a signal analysis controller 562 detects ANC instability or noise boosting. Such noise boosting indicates that the modeled transfer characteristic S'(z) does not accurately represent the actual secondary path S(z). Therefore, detection of noise boosting enables the modeled transfer characteristic S'(z) stored in the secondary path filter 522 to be modified.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to active noise cancellation systems, and more particularly to verifying the accuracy of secondary path filters in a feedforward active noise control framework to prevent noise boosting and / or system instability. [Background technology]

[0002] Active noise control (ANC) systems adaptively eliminate unwanted noise in a listening environment, such as a vehicle interior, by attenuating unwanted noise using feedforward and feedback structures. ANC systems typically cancel or reduce unwanted noise by generating canceling sound waves to destructively interfere with the unwanted audible noise. Destructive interference occurs when the sound pressure level (SPL) is reduced at the location of the noise and an "anti-noise" that is approximately as loud as the noise but in opposite phase. In a vehicle interior listening environment, potential sources of unwanted noise include sounds radiated by the engine, the interaction of the vehicle's tires with the road surface on which the vehicle is traveling, and / or vibrations of other parts of the vehicle. Thus, the unwanted noise varies with the vehicle's speed, road conditions, and driving conditions.

[0003] A road noise cancellation (RNC) system is a specific ANC system implemented in a vehicle to minimize unwanted road noise inside the vehicle cabin. An RNC system uses vibration sensors to sense road induced vibrations that arise from the tire-road interface that cause unwanted audible road noise. This unwanted road noise inside the vehicle cabin is then cancelled or reduced in level by using speakers to generate sound waves, ideally in phase opposition, at the same loudness as the noise to be reduced at the ear or ears of a listener. Cancelling such road noise results in a more comfortable ride for vehicle passengers and allows vehicle manufacturers to use lighter weight materials, thereby reducing energy consumption and reducing emissions.

[0004] An Engine Order Cancellation (EOC) system is a specific ANC system implemented in vehicles to minimize unwanted engine noise inside the vehicle cabin. EOC systems use a non-acoustic signal, such as a revolutions per minute (RPM) sensor, to generate a signal representing the engine speed as a reference. This reference signal is used to generate sound waves that are in phase opposite to the audible engine noise inside the vehicle. Because the EOC system uses a signal from the RPM sensor, no vibration sensor is required.

[0005] RNC systems are typically designed to cancel wideband signals, while EOC systems are designed and optimized to cancel narrowband signals, such as individual engine orders. ANC systems in vehicles may provide both RNC and EOC technologies. Such vehicle-based ANC systems are typically least mean square (LMS) adaptive feedforward systems that continuously adapt the W-filter based on noise inputs (e.g., acceleration inputs from vibration sensors in the RNC system) and error microphone signals at various locations in the cabin. The function and corresponding algorithm of an LMS-based feedforward ANC system is the storage of the impulse response, i.e., the secondary path between each error microphone and each anti-noise speaker in the system. The secondary path is the transfer function between the anti-noise generating speaker and the error microphone, essentially characterizing how the electrical anti-noise signal becomes the sound radiated from the speaker, travels through the cabin to the error microphone, and becomes the microphone output signal.

[0006] The ANC system uses modeled transfer characteristics, which estimate the various secondary paths when adapting the W-filter. If the modeled transfer characteristics of the secondary paths stored in the ANC system differ from the actual secondary paths in the vehicle, this can result in poor noise cancellation performance, noise gain, or actual instability. The actual secondary paths may deviate from the stored secondary path models, which are usually measured by trained engineers on a "golden system", if the vehicle differs significantly from the reference vehicle or system in terms of shape, number of passengers, luggage load, etc. Other differences can include differences between speaker or microphone units, aging, failure, replacement of non-identical speakers or wiring errors. Summary of the Invention [Means for solving the problem]

[0007] In one or more exemplary embodiments, a method for controlling stability of an active noise cancellation (ANC) system is provided. The method may include receiving an error signal from a microphone and generating a speaker signal to be radiated from a speaker. The speaker signal may include at least one music signal. The method may further include filtering the music signal using a secondary path filter to obtain an estimated music signal. The secondary path filter may be defined by a stored transfer characteristic that estimates a secondary path between the speaker and the microphone. The method may further include modifying the error signal using the estimated music signal to obtain an adjusted error signal, and detecting an occurrence of noise boosting based on a comparison of the error signal to the adjusted error signal.

[0008] The implementation may include one or more of the following characteristics. For example, modifying the error signal using the estimated music signal to obtain an adjusted error signal may comprise, if the error signal includes music, subtracting the estimated music signal from the error signal to obtain an adjusted error signal. Furthermore, detecting an occurrence of noise boosting based on a comparison of the error signal with the adjusted error signal may include detecting an occurrence of noise boosting when an energy of the adjusted error signal exceeds an energy of the error signal. As another example, detecting an occurrence of noise boosting based on a comparison of the error signal with the adjusted error signal may include detecting an occurrence of noise boosting when an energy of the error signal does not exceed an energy of the adjusted error signal by a predetermined threshold. In certain embodiments, the speaker signal may further comprise an anti-noise signal. Furthermore, the method may include disabling the speaker signal in response to detecting an occurrence of noise boosting.

[0009] The secondary path filter may be further used to filter the noise signal from the sensor to obtain a filtered noise signal. The adaptive filter controller may be configured to control the adaptive transfer characteristic based on the filtered noise signal and the error signal. The controllable filter may be configured to generate an anti-noise signal based on the adaptive transfer characteristic and the noise signal. As such, the method may further include disabling the anti-noise signal in response to detecting an occurrence of noise boosting. Alternatively, the method may further include modifying the stored transfer characteristic in the secondary path filter in response to detecting an occurrence of noise boosting. Modifying the stored transfer characteristic may include replacing the stored transfer characteristic with another transfer characteristic that provides a different estimate of the secondary path between the speaker and the microphone.

[0010] One or more additional embodiments may relate to an ANC system. The ANC system may include a first secondary path filter configured to filter a noise signal received from a sensor to obtain a filtered noise signal. The first secondary path filter may be defined by a stored transfer characteristic estimating a secondary path between a speaker and a microphone. The ANC system may further include an adaptive filter controller including a processor and a memory, the adaptive filter controller being programmed to control the adaptive transfer characteristic based on the filtered noise signal and an error signal received from a microphone disposed in the vehicle cabin. The ANC system may further include a controllable filter configured to generate an anti-noise signal based on the adaptive transfer characteristic and the noise signal. The ANC system may further include a signal analysis controller including a processor and a memory, the signal analysis controller being programmed to receive an adjusted error signal based on the error signal, detect an occurrence of noise boosting based on a comparison of the adjusted error signal with one of the error signal and the simulated error signal, and modify the stored transfer characteristic in the first secondary path filter in response to detecting the occurrence of noise boosting.

[0011] Implementations may include one or more of the following characteristics: The signal analysis controller may be programmed to detect noise boosting when the energy of the error signal exceeds the energy of the adjusted error signal or when the energy of the adjusted error signal does not exceed the energy of the error signal by a predetermined threshold. The adjusted error signal may be obtained by filtering the anti-noise signal using a second secondary path filter to obtain an estimated anti-noise signal if the error signal includes an anti-noise signal, and then subtracting the estimated anti-noise signal from the error signal. The second secondary path filter may be a copy of the first secondary path filter.

[0012] Alternatively, the signal analysis controller may be programmed to detect noise boosting when the energy of the adjusted error signal exceeds the energy of the error signal or when the energy of the error signal does not exceed the energy of the adjusted error signal by a predetermined threshold. The adjusted error signal may thus be obtained by filtering the anti-noise signal using a second secondary path filter to obtain an estimated anti-noise signal and then adding the estimated anti-noise signal to the error signal if the error signal does not include anti-noise. Alternatively, the adjusted error signal may be obtained by filtering the music signal using a second secondary path filter to obtain an estimated music signal and then subtracting the estimated music signal from the error signal if the error signal includes music. Again, the second secondary path filter may be a copy of the first secondary path filter.

[0013] Further, the simulated error signal is obtained by filtering the simulated speaker signal with a second secondary path filter, which may be a copy of the first secondary path filter. The simulated speaker signal may include at least one of a music signal and a simulated anti-noise signal. The simulated anti-noise signal may be obtained by filtering the noise signal with the stored adaptive transfer characteristic.

[0014] One or more additional embodiments may relate to a computer program product embodied in a non-transitory computer-readable medium programmed for ANC. The computer program product may include instructions for receiving an error signal from a microphone, receiving a noise signal from a sensor, filtering the noise signal using a first secondary path filter to obtain a filtered noise signal, the first secondary path filter being defined by a stored transfer characteristic estimating a secondary path between a speaker and the microphone, controlling filter coefficients of a controllable filter based on the filtered noise signal and the error signal, generating an anti-noise signal radiated from the speaker based on the noise signal and the filter coefficients, filtering a music signal using a second secondary path filter to obtain an estimated music signal, the second secondary path filter being a copy of the first secondary path filter, subtracting the estimated music signal from the error signal to obtain an adjusted error signal, and detecting an occurrence of noise boosting based on a comparison of the error signal to the adjusted error signal.

[0015] Implementations may include one or more of the following characteristics: The computer program product may further include instructions for disabling an anti-noise signal emitted by the speaker in response to detecting an occurrence of noise boosting. The computer program product may further include instructions for modifying a stored transfer characteristic of a first secondary path filter in response to detecting an occurrence of noise boosting. The computer program product may further include instructions for filtering the anti-noise signal using a second secondary path filter to obtain an estimated anti-noise signal and subtracting the estimated anti-noise signal from the error signal to obtain an adjusted error signal. For example, the present application provides the following: (Item 1) 1. A method for controlling stability of an active noise cancellation (ANC) system, the method comprising: receiving an error signal from a microphone; generating a speaker signal to be emitted from a speaker, the speaker signal including at least one music signal; filtering the music signal using a secondary path filter to obtain an estimated music signal, the secondary path filter being defined by a stored transfer characteristic estimating a secondary path between the speaker and the microphone; modifying the error signal using the estimated music signal to obtain an adjusted error signal; detecting an occurrence of noise boosting based on a comparison of the error signal with the adjusted error signal; The above method comprising: (Item 2) modifying the error signal using the estimated music signal to obtain an adjusted error signal comprises, if the error signal includes music, subtracting the estimated music signal from the error signal to obtain the adjusted error signal; The method of any preceding claim, wherein detecting an occurrence of noise boosting based on a comparison of the error signal with the adjusted error signal detects the occurrence of noise boosting when an energy of the adjusted error signal exceeds an energy of the error signal. (Item 3) modifying the error signal using the estimated music signal to obtain an adjusted error signal comprises, if the error signal includes music, subtracting the estimated music signal from the error signal to obtain the adjusted error signal; Detecting an occurrence of noise boosting based on a comparison of the error signal with the adjusted error signal detects the occurrence of noise boosting when the energy of the error signal does not exceed the energy of the adjusted error signal by a predetermined threshold. (Item 4) 13. The method of any one of the preceding claims, wherein the speaker signal further comprises an anti-noise signal. (Item 5) 13. The method of claim 12, further comprising disabling the speaker signal in response to detecting an occurrence of noise boosting. (Item 6) The secondary path filter is further used to filter a noise signal from a sensor to obtain a filtered noise signal, an adaptive filter controller is configured to control an adaptive transfer characteristic based on the filtered noise signal and the error signal, and a controllable filter is configured to generate an anti-noise signal based on the adaptive transfer characteristic and the noise signal, and the method further comprises: 13. The method of any one of the preceding claims, comprising disabling the anti-noise signal in response to detecting an occurrence of noise boosting. (Item 7) The secondary path filter is further used to filter the noise signal from the sensor to obtain a filtered noise signal, and the method further comprises: 13. A method according to any one of the preceding claims, comprising modifying the stored transfer characteristic in the secondary path filter in response to detecting an occurrence of noise boosting. (Item 8) 2. The method of claim 1, wherein modifying the stored transfer characteristic comprises replacing the stored transfer characteristic with another transfer characteristic that provides a different estimate of the secondary path between the speaker and the microphone. (Item 9) An active noise cancellation (ANC) system, a first secondary path filter configured to filter the noise signal received from the sensor to obtain a filtered noise signal, the first secondary path filter being defined by a stored transfer characteristic estimating a secondary path between the speaker and the microphone; an adaptive filter controller including a processor and a memory, the adaptive filter controller being programmed to control an adaptive transfer characteristic based on the filtered noise signal and an error signal received from a microphone disposed within the vehicle cabin; a controllable filter configured to generate an anti-noise signal based on the adaptive transfer characteristic and the noise signal; A processor and a memory, receiving an adjusted error signal based on the error signal; detecting an occurrence of noise boosting based on a comparison of the adjusted error signal to one of the error signal and a simulated error signal; The system further comprising a signal analysis controller programmed to modify the stored transfer characteristic in the first secondary path filter in response to detecting an occurrence of noise boosting. (Item 10) The ANC system described in the above item, wherein the signal analysis controller is programmed to detect noise boosting when the energy of the error signal exceeds the energy of the adjusted error signal or when the energy of the adjusted error signal does not exceed the energy of the error signal by a predetermined threshold. (Item 11) 2. The ANC system of claim 1, wherein the adjusted error signal is obtained by filtering the anti-noise signal using a second secondary path filter if the error signal includes an anti-noise signal to obtain an estimated anti-noise signal, and then subtracting the estimated anti-noise signal from the error signal, the second secondary path filter being a copy of the first secondary path filter. (Item 12) The ANC system of any one of the preceding items, wherein the signal analysis controller is programmed to detect noise boosting when the energy of the conditioned error signal exceeds the energy of the error signal or when the energy of the error signal does not exceed the energy of the conditioned error signal by a predetermined threshold. (Item 13) 2. The ANC system of claim 1, wherein the adjusted error signal is obtained by filtering the anti-noise signal using a second secondary path filter if the error signal does not include anti-noise to obtain an estimated anti-noise signal, and then adding the estimated anti-noise signal to the error signal, the second secondary path filter being a copy of the first secondary path filter. (Item 14) 2. The ANC system of claim 1, wherein if the error signal includes music, the adjusted error signal is obtained by filtering a music signal using a second secondary path filter to obtain an estimated music signal and then subtracting the estimated music signal from the error signal, the second secondary path filter being a copy of the first secondary path filter. (Item 15) 2. The ANC system of claim 1, wherein the simulated error signal is obtained by filtering a simulated speaker signal using a second secondary path filter, the second secondary path filter being a copy of the first secondary path filter. (Item 16) 2. The ANC system of claim 1, wherein the simulated speaker signal includes at least one of a music signal and a simulated anti-noise signal, and the simulated anti-noise signal is obtained by filtering the noise signal with a stored adaptive transfer characteristic. (Item 17) 1. A computer program product embodied in a non-transitory computer readable medium programmed for active noise cancellation (ANC), the computer program product comprising: receiving an error signal from a microphone; receiving a noise signal from a sensor; filtering the noise signal using a first secondary path filter to obtain a filtered noise signal, the first secondary path filter being defined by a stored transfer characteristic that estimates a secondary path between a speaker and the microphone; controlling filter coefficients of a controllable filter based on the filtered noise signal and the error signal; generating an anti-noise signal to be emitted from the speaker based on the noise signal and the filter coefficients; filtering the music signal with a second secondary path filter to obtain an estimated music signal, the second secondary path filter being a copy of the first secondary path filter; subtracting the estimated music signal from the error signal to obtain an adjusted error signal; The computer program product, comprising instructions for detecting an occurrence of noise boosting based on a comparison of the error signal with the adjusted error signal. (Item 18) 20. The computer program product of claim 19, further comprising instructions for disabling the anti-noise signal emitted by the speaker in response to detecting an occurrence of noise boosting. (Item 19) 20. The computer program product of claim 19, further comprising instructions for modifying the stored transfer characteristic of the first secondary path filter in response to detecting an occurrence of noise boosting. (Item 20) filtering the anti-noise signal using the second secondary path filter to obtain an estimated anti-noise signal; 13. The computer program product of claim 12, further comprising instructions for subtracting the estimated anti-noise signal from the error signal to obtain the adjusted error signal. (Summary) An active noise cancellation (ANC) system may include being able to verify the accuracy of a modeled and stored transfer characteristic stored in a secondary path filter, which provides an estimate of the secondary path (i.e., the transfer function between the speaker and the error microphone). By adjusting the error signal from the error microphone using an estimated anti-noise or music signal, the signal analysis controller may detect ANC instability or noise boosting. Such noise boosting may indicate that the stored transfer characteristic of the secondary path filter does not accurately represent the actual secondary path. Thus, upon detection of noise boosting, the stored transfer characteristic of the secondary path filter may be modified. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is an environmental block diagram of a vehicle having an active noise control (ANC) system including road noise cancellation (RNC) in accordance with one or more embodiments of the present disclosure. [Diagram 2] FIG. 2 is an exemplary schematic diagram showing relevant portions of an RNC system scaled to include R accelerometer signals and L speaker signals. [Diagram 3] FIG. 1 is an example schematic block diagram of an ANC system including an engine order cancellation (EOC) system and an RNC system. [Figure 4] 1 is an exemplary look-up table of the frequency of each engine order for a given RPM of an EOC system. [Diagram 5] FIG. 1 is a schematic block diagram illustrating an ANC system including a signal analysis controller in accordance with one or more embodiments of the present disclosure. [Figure 6]1 is a flowchart illustrating a method for verifying accuracy of a secondary path filter in an ANC system in accordance with one or more embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Where necessary, detailed embodiments of the present invention are disclosed herein. However, it should be understood that the disclosed embodiments are merely exemplary of the present invention, which may be embodied in various alternative forms. The drawings are not necessarily to scale, and some features may be exaggerated or minimized to show the details of specific components. Therefore, specific structural and functional details disclosed herein should not be interpreted as limiting, but merely as a representative basis for teaching those skilled in the art to use the present invention in various ways.

[0018] Any one or more of the controllers or devices described herein include computer executable instructions that may be compiled or interpreted from computer programs created using various programming languages ​​and / or technologies. Generally, a processor (such as a microprocessor) receives instructions from, for example, a memory, a computer readable medium, etc., and executes the instructions. The processing unit includes a non-transitory computer readable storage medium capable of executing instructions of a software program. The computer readable storage medium may be, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof.

[0019] FIG. 1 illustrates a road noise cancellation (RNC) system 100 for a vehicle 102 having one or more vibration sensors 108. The vibration sensors are placed throughout the vehicle 102 to monitor the vibration behavior of the vehicle's suspension, subframe, and other axle and chassis components. The RNC system 100 may be integrated into a wideband feedforward and feedback active noise control (ANC) framework or system 104 that generates anti-noise by adaptive filtering of signals from the vibration sensors 108 using one or more microphones 112. The anti-noise signals may then be played back through one or more speakers 124. S(z) represents the transfer function between a single speaker 124 and a single microphone 112. It should be noted that while FIG. 1 illustrates a single vibration sensor 108, microphone 112, and speaker 124 for simplicity purposes only, a typical RNC system uses multiple vibration sensors 108 (e.g., 10 or more), microphones 112 (e.g., 4-6), and speakers 124 (e.g., 4-8).

[0020] The vibration sensor 108 may include, but is not limited to, an accelerometer, a force gauge, a geophone, a linear variable differential transformer, a strain gauge, and a load cell. For example, an accelerometer is a device whose output signal amplitude is proportional to acceleration. A wide variety of accelerometers are available for use in RNC systems. These include accelerometers that sense vibration in one, two, and three, usually orthogonal directions. These multi-axis accelerometers usually have separate electrical outputs (or channels) for vibrations sensed in the X, Y, and Z directions. Thus, single-axis and multi-axis accelerometers may be used as vibration sensors 108 to detect the magnitude and phase of acceleration, and may be used to sense orientation, movement, and vibration.

[0021] Noise and vibration resulting from the wheels 106 moving on the road surface 150 may be sensed by one or more vibration sensors 108 mechanically coupled to the suspension device 110 or chassis components of the vehicle 102. The vibration sensor 108 may output a noise signal X(n), which is a vibration signal representative of the detected road-induced vibrations. It should be noted that multiple vibration sensors are possible and their signals may be used separately or combined in various ways known to those skilled in the art. In certain embodiments, a microphone may be used instead of a vibration sensor to output a noise signal X(n) indicative of the noise generated from the interaction of the wheels 106 with the road surface 150. The noise signal X(n) may be filtered by a secondary path filter 122 with a modeled transfer characteristic S'(z), which estimates the secondary path (i.e., the transfer function between the anti-noise speaker 124 and the error microphone 112).

[0022] Road noise resulting from the interaction of the wheels 106 with the road surface 150 is also transferred mechanically and / or acoustically to the passenger compartment and received by one or more microphones 112 in the vehicle 102. The one or more microphones 112 may be located, for example, in a headrest 114 of the seat 116 as shown in FIG. 1. Alternatively, the one or more microphones 112 may be located in a headliner of the vehicle 102 or in other suitable locations for sensing the acoustic noise field heard by the occupants in the vehicle 102. The road noise resulting from the interaction of the wheels 106 with the road surface 150 is transferred to the microphone 112 according to a transfer characteristic P(z) that represents the primary path (i.e., the transfer function between the actual noise source and the error microphone).

[0023] The microphone 112 may output an error signal e(n) representative of the noise present in the vehicle 102 interior detected by the microphone 112. In the RNC system 100, the adaptive transfer characteristic W(z) of the controllable filter 118 may be controlled by the adaptive filter controller 120, which may operate according to the known least mean square (LMS) algorithm based on the error signal e(n) and the noise signal X(n) filtered with the transfer characteristic S'(z) modeled by the filter 122. The controllable filter 118 is often referred to as a W-filter. The anti-noise signal Y(n) may be generated by the adaptive filter formed by the controllable filter 118 and the adaptive filter controller 120 based on the identified transfer characteristic W(z) and the vibration signal, i.e., X(n), which is a combination of the vibration signal. The anti-noise signal Y(n) ideally has a waveform such that when played through the speaker 124, anti-noise is produced near the ears of the occupants and the microphone 112 that is substantially opposite phase and louder than the road noise heard by the occupants in the vehicle cabin. The anti-noise from the speaker 124 may combine with the road noise in the vehicle cabin near the microphone 112, resulting in a reduction in the road noise induced sound pressure level (SPL) at this location. In certain embodiments, the RNC system 100 may receive sensor signals from other acoustic sensors in the passenger compartment, such as acoustic energy sensors, acoustic intensity sensors, or acoustic particle velocity or acceleration sensors, to generate the error signal e(n).

[0024] While the vehicle 102 is operating, the processor 128 may collect and optionally process data from the vibration sensors 108 and microphones 112 to build a database or map containing data and / or parameters used by the vehicle 102. The collected data may be stored locally in storage 130 or in the cloud for future use by the vehicle 102. Examples of types of data related to the RNC system 100 that may be useful to store locally in storage 130 include, but are not limited to, optimal W filters, alternative secondary path filters S'(z), various noise boosting thresholds, accelerometer or microphone spectral or time dependent signals, and engine SPL versus torque and RPM. In one or more embodiments, the processor 128 and storage 130 may be integrated with one or more RNC system controllers, such as the adaptive filter controller 120.

[0025] As mentioned above, a typical RNC system may use several vibration sensors, microphones and speakers to sense vibration behavior caused by the vehicle's structure and generate anti-noise. The vibration sensor may be a multi-axis accelerometer with multiple output channels. For example, a three-axis accelerometer usually has separate electrical outputs for vibrations sensed in the X, Y and Z directions. A typical configuration of an RNC system may have, for example, six error microphones, six speakers and twelve channels of acceleration signals from four three-axis accelerometers or six two-axis accelerometers. Thus, the RNC system may further include multiple S'(z) filters (i.e., secondary path filters 122) and multiple W(z) filters (i.e., controllable filters 118).

[0026] The simplified RNC system schematic shown in FIG. 1 shows one secondary path represented by S(z) between each speaker 124 and each microphone 112. As mentioned above, an RNC system will typically have multiple speakers, microphones and vibration sensors. Thus, an RNC system with six speakers and six microphones would have a total of 36 secondary paths (i.e., 6×6). Accordingly, an RNC system with six speakers and six microphones may similarly have 36 S′(z) filters (i.e., secondary path filters 122) that estimate the transfer function of each secondary path. As illustrated in FIG. 1, the RNC system would further have one W(z) filter (i.e., controllable filter 118) between each noise signal X(n) from the vibration sensor (i.e., accelerometer) 108 and each speaker 224. Thus, an RNC system with 12 accelerometer signals and six speakers may have 72 W(z) filters. The relationship between the accelerometer signal, the number of speakers and the W(z) filter is shown in FIG.

[0027] FIG. 2 shows R accelerometer signals [X 1 (n), X 2 (n), …X R (n)] and L speaker signals [Y 1 (n), Y 2 (n), …Y LFIG. 2 is an exemplary schematic diagram showing relevant portions of an RNC system 200 scaled to include R×L controllable filters (or W filters) 218 ​​between each accelerometer signal and each speaker. As an example, an RNC system with 12 accelerometer outputs (i.e., R=12) may use six two-axis accelerometers or four three-axis accelerometers. In the same example, a vehicle with six speakers (i.e., L=6) to play anti-noise may therefore use a total of 72 W filters. At each of the L speakers, the R W filter outputs are summed to generate the speaker's anti-noise signal Y(n). Each of the L speakers may include an amplifier (not shown). In one or more embodiments, the R accelerometer signals filtered by the R W filters are summed to generate an electrical anti-noise signal y(n), which is sent to an amplifier to generate an amplified anti-noise signal Y(n) sent to the speaker.

[0028] The exemplary ANC system 104 of FIG. 1 may further include an engine order cancellation (EOC) system. As described above, EOC technology uses a non-acoustic signal, such as an RPM signal representing engine speed, as a reference to generate a sound that is out of phase with the engine noise heard in the vehicle cabin. A typical EOC system utilizes a narrowband feed-forward ANC framework, using the RPM signal to generate an anti-noise signal to guide the generation of an engine order signal at the same frequency as the engine order to be canceled, and adaptively filter to generate the anti-noise signal. After being transmitted from the anti-noise source to the listening position or error microphone via a secondary path, the anti-noise ideally has the same amplitude but is out of phase, since the combined sound is generated by the engine and exhaust and filtered by the primary path that extends from the engine to the listening position and from the exhaust outlet to the listening position. Thus, where the error microphone is present within the vehicle cabin (i.e., most likely at or near the listening position), the superposition of engine order noise and anti-noise will ideally be zero, and therefore the acoustic error signal received by the error microphone will record only sounds other than the (ideally canceled) engine orders or orders generated by the engine and exhaust.

[0029] Typically a non-acoustic sensor is used as the reference, e.g. an RPM sensor. The RPM sensor can be, for example, a Hall effect sensor placed adjacent to a rotating steel disk. Other detection principles such as optical or inductive sensors can be used. The signal from the RPM sensor can be used as a guide signal to generate any number of reference engine order signals corresponding to each engine order. The reference engine orders form the basis for the noise cancelling signals generated by one or more narrowband adaptive feedforward LMS blocks forming the EOC system.

[0030] 3 is a schematic block diagram illustrating an example of an ANC system 304, including both an RNC system 300 and an EOC system 340. Similar to the RNC system 100, the RNC system 300 may include elements 308, 312, 318, 320, 322, and 324, which correspond to the operation of elements 108, 112, 118, 120, 122, and 124, respectively, described above. The EOC system 340 may include an RPM sensor 342, which may provide an RPM signal 344 (e.g., a square wave signal) indicative of the rotation of the engine drive shaft or other rotating shaft indicative of the engine rotation speed. In some embodiments, the RPM signal 344 may be obtained from a vehicle network bus (not shown). The RPM signal 344 represents the frequency generated by the engine and exhaust system, since the radiated engine order is directly proportional to the RPM of the drive shaft. Thus, the signal from the RPM sensor 342 may be used to generate a reference engine order signal corresponding to each engine order of the vehicle. Thus, the RPM signal 344 may be used in conjunction with an RPM vs. engine order frequency lookup table 346, which provides a list of engine orders that are emitted at each engine RPM.

[0031] 4 illustrates an example EOC cancellation adjustment table 400 that may be used to generate the lookup table 346. The example table 400 lists the frequency of each engine order for a given RPM. In the illustrated example, four engine orders are shown. The LMS algorithm takes the RPM as an input and generates a sine wave for each order based on this lookup table 400. As previously mentioned, the associated RPM of the table 400 may be the drive shaft RPM.

[0032] 3, the frequency of a given engine order at the sensed RPM retrieved from the lookup table 346 may be provided to a frequency generator 348, which generates a sine wave at the given frequency. This sine wave represents a noise signal X(n) indicative of the engine order noise of the given engine order. Similar to the RNC system 300, this noise signal X(n) from the frequency generator 348 may be sent to an adaptive controllable filter 318, or W filter, which provides a corresponding anti-noise signal Y(n) to the speaker 324. As shown, various components of this narrowband EOC system 340 may be identical to the wideband RNC system 300, including the error microphone 312, adaptive filter controller 320, and secondary path filter 322. The anti-noise signal Y(n) broadcast by the speaker 324 produces an anti-noise that is substantially out of phase but of the same magnitude as the actual engine order noise at the listener's ear, which may be proximate to the error microphone 312, thereby reducing the amplitude of the engine order sound. Because the engine order noise is narrowband, the error microphone signal e(n) may be filtered with a bandpass filter 350 before being sent to the LMS-based adaptive filter controller 320. In one embodiment, proper operation of the LMS adaptive filter controller 320 is performed when the noise signal X(n) output by the frequency generator 348 is bandpass filtered using the same bandpass filter parameters.

[0033] To simultaneously reduce the amplitude of multiple engine orders, the EOC system 340 may include multiple frequency generators 348 for generating a noise signal X(n) for each engine order based on the RPM signal 344. As an example, FIG. 3 illustrates a noise signal (e.g., X(n)) unique to each engine order based on the engine speed. 1 (n), X 23 shows a two-order EOC system having two such frequency generators for generating a frequency (e.g., frequency (n)) of the two engine orders. Because the frequencies of the two engine orders are different, the bandpass filters 350 (denoted as BPF and BPF2) have different corner frequencies for high-pass and low-pass filters. The number of frequency generators and corresponding noise cancellation components will ultimately vary based on the number of engine orders of the particular engine of the vehicle. As the two-order EOC system 340 is combined with the RNC system 300 to form the ANC system 304, the anti-noise signals Y(n) output from the three controllable filters 318 are summed and sent to the speaker 324 as the speaker signal S(n). Similarly, the error signal e(n) from the error microphone 312 may be sent to three LMS adaptive filter controllers 320.

[0034] A major factor that can lead to instability or poor noise cancellation performance in an ANC system occurs when the modeled transfer characteristic S'(z), which represents an estimate of the secondary path stored in the ANC system, does not match the actual secondary path of the system. As previously mentioned, the secondary path is the transfer function between the anti-noise generating speaker and the error microphone. Thus, it essentially characterizes how the electrical anti-noise signal Y(n) becomes the sound radiated from the speaker, travels through the vehicle cabin to the error microphone, and becomes part of the microphone output or error signal e(n) in the ANC system. According to one or more embodiments of the present disclosure, music or anti-noise played from the speaker and captured by the error microphone may be used to verify in real time that the stored estimate of the secondary path (i.e., S'(z)) is an accurate representation of the actual secondary path (i.e., S(z)).

[0035] FIG. 5 is a schematic block diagram of a vehicle-based ANC system 500 illustrating a number of key ANC system parameters that may be used to validate stored estimates of the secondary path and optimize ANC system performance. For ease of explanation, the ANC system 500 illustrated in FIG. 5 is shown with the components and functions of an RNC system, such as the RNC system 100. However, the ANC system 500 may include an EOC system, such as that shown and described in connection with FIG. 3. Thus, the ANC system 500 is a schematic diagram of an RNC and / or EOC system, such as those described in connection with FIGS. 1-3, which illustrate additional system components. Similar components may be numbered using the same convention. For example, similar to the RNC system 100, the ANC system 500 may include elements 508, 510, 512, 518, 520, 522, and 524, which are consistent with the operation of elements 108, 110, 112, 118, 120, 122, and 124, respectively, as described above. FIG. 5 further illustrates, for illustrative purposes, in block form, the primary path P(z) and the secondary path S(z), as described with respect to FIG.

[0036] Similar to FIG. 1, a noise signal X(n) from a noise input such as a vibration sensor 508 may be filtered with a transfer characteristic S'(z) modeled by a secondary path filter 522 using a stored estimate of the secondary path as described above to obtain a filtered noise signal X'(n). Furthermore, the transfer characteristic W(z) of a controllable filter 518 (e.g., a W filter) may be controlled by an LMS adaptive filter controller (or simply an LMS controller) 520 to provide an adaptive filter. The noise signal filtered by the secondary path filter 522 and an error signal e(n) from the microphone 512 are inputs to the LMS adaptive filter controller 520. An anti-noise signal Y(n) may be generated by the controllable filter 518 adapted by the LMS controller 520 based on the noise signal X(n).

[0037] The speaker 524 that generates the anti-noise based on the anti-noise signal Y(n) may be the same speaker used to play music. Thus, FIG. 5 shows that the music signal M(n) from the music playback device 560 may be combined with the anti-noise signal Y(n) to become the speaker signal S(n) that is played as sound by the speaker 524. As shown, the ANC system 500 may further include a signal analysis controller 562. The signal analysis controller 562 may include a processor and memory (not shown), such as the processor 128 and the storage 130, which are programmed to verify whether the stored estimate(s) of the secondary path S'(z) match the actual secondary path S(z) of the vehicle. This secondary path verification may be performed using the estimates of the music and / or anti-noise radiated by the speaker 524 to the position of the microphone 512. Thus, the ANC system may include an additional secondary path filter 564 that generates these estimates of the music or anti-noise. In particular, the anti-noise signal Y(n) may be filtered by the secondary path filter 564 to obtain an estimated anti-noise signal Y'(n), which provides an estimate of the anti-noise at the microphone 512. Similarly, the music signal M(n) may be filtered by the secondary path filter 564 to obtain an estimated music signal M'(n), which provides an estimate of the music at the microphone 512. The transfer characteristic modeled and stored by the secondary path filter 564 may typically be the same as the transfer function modeled and stored by the secondary path filter 522. For example, the values ​​of the secondary path filter 522 may be copied to the secondary path filter 564 to calculate the estimated anti-noise signal Y'(n) and / or the estimated music signal M'(n).

[0038] The actual error signal e(n) from the microphone 512 may be modified by one or both of the estimated anti-noise signal Y'(n) and the estimated music signal M'(n) in block 566 to obtain an adjusted error signal e'(n). For example, if music is present in the error signal e(n), since music is radiating from the speaker 524, an estimate of the music at the microphone 512 (i.e., the estimated music signal M'(n)) may be subtracted from the error signal e(n) to obtain an adjusted error signal e'(n). Similarly, if anti-noise is present (e.g., because the ANC system is active), an estimate of the anti-noise at the microphone 512 (i.e., the estimated anti-noise signal Y'(n)) may be subtracted from the error signal e(n) to obtain an adjusted error signal e'(n).

[0039] According to another embodiment, the secondary path estimate may be verified by adding the estimated anti-noise signal Y'(n) to the error signal e(n) to obtain an adjusted error signal e'(n) when the ANC system is inactive. Note that in this case, when the ANC is off, the anti-noise signal Y(n) is not transmitted to the speaker 524 but is introduced as the actual anti-noise in the cabin. For example, a switch 572 may be introduced between the controllable filter 518 and the summing block 574 to prevent the anti-noise signal Y(n) from reaching the summing block and being added to the music signal M(n) for output by the speaker 524.

[0040] The signal analysis controller 562 may then compare the error signal e(n) to the adjusted error signal e′(n) to determine whether noise boosting or instability is occurring, as described in more detail below. The presence of noise boosting detected by the signal analysis controller 562 may indicate that the modeled transfer characteristic S′(z) of the secondary path to which the secondary path filter 522 is applied is inaccurate. Once noise boosting or instability is recognized, the ANC system may take corrective action, for example, by effectively disabling the ANC system 500, disabling the anti-noise applied using the inaccurate secondary path filter 522 by preventing the associated anti-noise signal Y(n) from reaching the speaker 524, or substituting the stored transfer characteristics of the secondary path filters 522 and 564 with different modeled transfer characteristics of the secondary path between the speaker 524 and the microphone 512. Various techniques for mitigating the presence of noise boosting based on secondary path validation are described in more detail below.

[0041] In another embodiment, the signal analysis controller 562 may use a known good W filter value stored by the ANC system 500 to verify the accuracy of the secondary path filter 522. After noise boosting is detected using anti-noise as the detection signal, the present technique may be utilized to verify whether the boosting is due to an inaccurate controllable W filter 518 or an inaccurate modeled transfer characteristic S'(z) stored in the secondary path filter 522. In this case, the noise signal X(n) is convolved with the stored W filter at block 568 to generate a simulated anti-noise signal Y sim (n) can be obtained. A simulated anti-noise signal Y sim (n) is optionally combined with the music signal M(n) in block 570 to produce a simulated speaker signal S(n). sim (n) can then be obtained. sim(n) is filtered or convolved with the stored estimate of the secondary path S'(z) using secondary path filter 564 to produce a simulated error signal e sim The signal analysis controller 562 may then convert the error signal e(n) into a simulated error signal e(n). sim (n) may provide an alternative check as to whether the stored estimate of the secondary path S'(z) is an accurate representation of the actual secondary path S(z), or whether the noise boosting was simply due to a misadaptation of the controllable filter 518 (i.e., the W filter). That is, if noise boosting is still detected using the known good W filter stored in block 568, it can be determined that a misadaptation of the controllable filter 518 is likely the cause.

[0042] 6 is a flow chart illustrating a method 600 for verifying that a stored estimate S'(z) of the secondary path is an accurate representation of the actual secondary path between the speaker and the error microphone in the ANC system. This may be performed by taking an error microphone signal e(n) indicative of all sounds in the room at a particular location, electronically adding or subtracting either anti-noise or music, and generating a second error signal (e.g., an adjusted error signal e'(n)) for comparison with the actual error signal e(n). Various steps of the disclosed method may be performed by the signal analysis controller 562 alone or in conjunction with other components of the ANC system 500.

[0043] There are four possible cases where this secondary path verification process can be used: (1) ANC off, music off; (2) ANC off, music on; (3) ANC on, music off; and (4) ANC on, music on. If the error signal e(n) contains a trace of the anti-noise because the ANC system is active, the accuracy of the stored secondary path S'(z) can be verified by removing the anti-noise component from the error signal e(n) at microphone 512. In these cases, if the stored secondary path S'(z) represents the actual secondary path S(z), subtraction (removal) of the anti-noise from the error signal e(n) produces an adjusted error signal e'(n) that should be higher in amplitude compared to the error signal e(n) at one or more frequencies (e.g., frequencies contained within the estimated anti-noise signal Y'(n)). If the signal amplitude in any frequency range is low, it is because the stored secondary path S'(z) does not represent the actual secondary path S(z) and noise boosting has occurred.

[0044] If the error signal e(n) contains a trace of music because the music playing device 560 is on, the accuracy of the stored secondary path S'(z) may be verified by removing the music component from the error signal e(n) with the microphone 512. For example, if the stored secondary path S'(z) is indicative of the actual secondary path S(z), the music may be subtracted (removed) from the error signal e(n), thereby generating an adjusted error signal e'(n), which should result in a lower amplitude at one or more frequencies (e.g., frequencies contained within the estimated music signal M'(n)) compared to the actual error signal e(n). If the signal amplitude in any frequency range is higher, this is due to the stored secondary path S'(z) being inaccurate and noise boosting having occurred.

[0045] When ANC is off, the error signal e(n) does not contain any anti-noise. Therefore, the electrical anti-noise signal (i.e., the estimated anti-noise signal Y'(n)) is added to the error signal e(n) to form an adjusted error signal e'(n), which should result in e'(n) having a lower signal amplitude at one or more frequencies (e.g., frequencies included in the estimated anti-noise signal Y'(n)) compared to the original error signal e(n). If the signal amplitude at any frequency range is high, it is because the stored secondary path S'(z) does not represent the actual secondary path S(z).

[0046] When both music playback and ANC are on, the error signal e(n) from the microphone may contain traces of either of these sounds. Thus, the estimate of the music or the estimate of the anti-noise at the microphone may be removed from the error signal e(n) to obtain an adjusted error signal e'(n). Then, depending on which sound component is removed, the appropriate comparison process described above may be performed.

[0047] A method 600 for verifying the accuracy of a stored estimate of the secondary path S'(z) may begin at step 605, where the signal analysis controller 562 may receive an error signal e(n) from the microphone 512. In step 610, the system may determine whether the error signal e(n) includes music (i.e., whether the music playing device 560 is on and contributes to the sound sensed by the microphone 512). If the error signal e(n) includes music, the method proceeds to step 615, where the music component of the error signal e(n) may be removed to obtain an adjusted error signal e'(n). As previously mentioned, this may be performed by convolving the music with the stored secondary path S'(z) (i.e., filtering the music signal M(n) using the secondary path filter 564) to generate an estimated music signal M'(n), which represents an estimate of the music at the location of the microphone 512. The estimated music signal M'(n) may then be subtracted from the error signal e(n) to obtain an adjusted error signal e'(n).

[0048] Next, in step 620, the error signal e(n) may be compared to the adjusted error signal e'(n). If the stored secondary path S'(z) is a good match with the vehicle's actual secondary path S(z), the energy of the newly generated adjusted error signal e'(n) should be lower than the energy of the error signal e(n) from the error microphone 512. In one embodiment, the signal analysis controller 562 may calculate frequency domain representations of both the error signal e(n) and the adjusted error signal e'(n) for this comparison. If the level of any of the frequency bins of the adjusted error signal e'(n) is higher than the level of the error signal e(n), then the stored secondary path S'(z) and the actual secondary path S(z) will not be a good match at that frequency, and any anti-noise generated at this frequency will (or may be) likely to result in noise gain rather than noise cancellation.

[0049] As part of the comparison in step 620, the signal analysis controller 562 may calculate the difference between the error signal e(n) and the adjusted error signal e'(n) by subtracting the adjusted error signal e'(n) from the error signal e(n). This may also be performed in the frequency domain by calculating the difference between the signal amplitudes in each frequency bin. The difference between the error signal e(n) and the adjusted error signal e'(n) may then be compared to a predetermined threshold, as provided in step 625. Thus, noise boosting may be detected if the energy of the error signal e(n) does not exceed the energy of the adjusted error signal e'(n) by a predetermined threshold. In other words, noise boosting may be detected if the result of subtracting the adjusted error signal e'(n) from the error signal e(n) is less than a predetermined threshold.

[0050] If it is determined that noise boosting is occurring, one or more techniques may be used to reduce or reverse the noise boosting and / or stabilize the ANC system, as provided in step 630. These mitigation techniques are described in more detail below. Returning to step 625, if the difference calculated in step 620 exceeds a predetermined threshold, it is determined that the stored secondary path S'(z) sufficiently matches the actual secondary path S(z), such that the adaptive filter controller 520 appropriately updates the controllable filter 518 and no noise boosting occurs in the ANC system. Thus, the method may return to step 605 and continue verifying the accuracy of the secondary path filter.

[0051] If, at step 610, it is determined that the error signal does not include a music playback component, or if verification of the secondary path using anti-noise is preferred, the method may proceed to step 635. At step 635, the signal analysis controller may determine whether the error signal e(n) includes anti-noise. For example, if ANC is not active, the error signal e(n) will not pick up anti-noise at the microphone 512. However, if ANC is active, the signal analysis controller 562 may determine that the error signal e(n) does include anti-noise radiated by the speaker 524. If the error signal e(n) includes anti-noise, the method may proceed to step 640, where the anti-noise component of the error signal e(n) is removed to obtain an adjusted error signal e′(n). As mentioned above, this may be performed by convolving the anti-noise with the stored secondary path S'(z) (i.e., filtering the anti-noise signal Y(n) using the secondary path filter 564) to generate an estimated anti-noise signal Y'(n), which represents an estimate of the anti-noise at the position of the microphone 512. The estimated anti-noise signal Y'(n) may then be subtracted from the error signal e(n) to obtain an adjusted error signal e'(n).

[0052] Next, in step 645, the error signal e(n) may be compared to the adjusted error signal e'(n). If the stored secondary path S'(z) matches the actual secondary path S(z) of the vehicle sufficiently, the energy of the newly generated adjusted error signal e'(n) should be higher than the energy of the error signal e(n) from the error microphone 512 in this case. In one embodiment, the signal analysis controller 562 may calculate frequency domain representations of both the error signal e(n) and the adjusted error signal e'(n) for this comparison. If the level of any of the frequency bins of the adjusted error signal e'(n) is lower than the level of the error signal e(n), then the stored secondary path S'(z) and the actual secondary path S(z) will not match sufficiently at that frequency, and any anti-noise generated at this frequency will (or may be) likely to result in noise gain rather than noise cancellation.

[0053] As part of the comparison in step 645, the signal analysis controller 562 may calculate the difference between the error signal e(n) and the adjusted error signal e'(n) by subtracting the error signal e(n) from the adjusted error signal e'(n). This may also be performed in the frequency domain by calculating the difference between the signal amplitudes in each frequency bin. The difference between the error signal e(n) and the adjusted error signal e'(n) may then be compared to a predefined threshold as provided in step 625. In this case, therefore, noise boosting may be detected if the energy of the adjusted error signal e'(n) does not exceed the energy of the error signal e(n) by a predefined threshold. In other words, noise boosting may be detected if the result of subtracting the error signal e(n) from the adjusted error signal e'(n) is less than the predefined threshold. Again, if noise boosting is detected, the method proceeds to step 630 and a mitigation of noise boosting may be applied.

[0054] If, in step 635, the error signal e(n) does not include anti-noise (e.g., ANC is substantially off), the method proceeds to step 650, where an estimate of anti-noise may be added to the error signal e(n) to obtain an adjusted error signal e′(n). As mentioned above, this may be performed by filtering the anti-noise signal Y(n) using a secondary path filter 564 to generate an estimated anti-noise signal Y′(n), which represents an estimate of anti-noise at the position of the microphone 512. Note that in this case, when the ANC is off, the anti-noise signal Y(n) is not conveyed to the speaker 524, but is introduced as the actual anti-noise in the cabin. As mentioned above, a switch 572 may be introduced between the controllable filter 518 and the summing block 574 to prevent the anti-noise signal Y(n) from reaching the summing block to be added to the music signal M(n) for output by the speaker 524. The estimated anti-noise signal Y'(n) may then be added to the error signal e(n) to obtain an adjusted error signal e'(n). The error signal e(n) may then be compared to the adjusted error signal e'(n) in step 620, as described above. That is, if the stored secondary path S'(z) is sufficiently matched to the vehicle's actual secondary path S(z), the energy of the newly generated adjusted error signal e'(n) should be lower than the energy of the error signal e(n) from the error microphone 512. In one embodiment, the signal analysis controller 562 may calculate frequency domain representations of both the error signal e(n) and the adjusted error signal e'(n) for this comparison. If the level of any of the frequency bins of the adjusted error signal e'(n) is higher than the level of the error signal e(n), then the stored secondary path S'(z) and the actual secondary path S(z) are not sufficiently matched at that frequency, and any anti-noise generated at that frequency will (or may be) likely to result in noise gain rather than noise cancellation.

[0055] Also, as part of the comparison in step 620, the signal analysis controller 562 may calculate the difference between the error signal e(n) and the adjusted error signal e'(n) by subtracting the adjusted error signal e'(n) from the error signal e(n). This may similarly be performed in the frequency domain by calculating the difference between the signal amplitudes in each frequency bin. The difference between the error signal e(n) and the adjusted error signal e'(n) may then be compared to a predetermined threshold, as provided in step 625. Thus, noise boosting may be detected if the energy of the error signal e(n) does not exceed the energy of the adjusted error signal e'(n) by a predetermined threshold. In other words, noise boosting may be detected if the result of subtracting the adjusted error signal e'(n) from the error signal e(n) is less than a predetermined threshold.

[0056] As previously explained, the ANC system 500 may be scaled to include multiple noise signals X(n) (both RNC and EOC), speakers 524, and error microphones 512. Additionally, there is one secondary path S(z) between each error microphone 512 and each speaker 524. Thus, for example, an ANC system with four microphones and six speakers would have 24 secondary path filters (4x6=24). In a multi-speaker system, each microphone 512 detects the output from each speaker 524. Thus, in the above example, the microphone error signal e(n) may be composed of the contribution of the primary path noise P(z) plus the contribution of six different anti-noise Y(n) signals passing on six different secondary paths S(z) to the microphone. In one embodiment, the accuracy of the individual secondary path filters may be verified through a step-by-step process of the steps above. For example, in this example, to detect noise boosting, each of the six anti-noise signals Y(n) may be subtracted individually from the error signal e(n) of microphone 512, and the energy differencing step may be repeated for each iteration. This will determine any or all secondary path filter estimates S'(z) filters that are causing increased noise or instability and therefore do not match the actual secondary path with sufficient accuracy.

[0057] If it is determined that noise boosting is occurring, one or more techniques may be used to reduce or reverse the noise boosting and / or stabilize the ANC system, as provided in step 630. For example, disabling the ANC system 500 all together and preventing the associated anti-noise signal Y(n) from reaching the speaker 524 may effectively disable the anti-noise that was adapted using the inaccurate secondary path filter 522. Techniques for preventing the associated anti-noise signal Y(n) from reaching the speaker 524 may include replacing the stored transfer characteristic of the secondary path filter 522 with zeros, replacing the W(z) filter stored in block 568 with zeros, reducing the gain of the amplifier channel associated with the speaker 524, etc. By simply lowering the value of any of these filters or amplifiers by as little as 10 dB, the anti-noise generated by the speaker 524 may have little effect on the soundscape of the microphone 512, thereby reducing the boosting or instability to an inaudible level. Alternatively, individual secondary path filters that cause noise boosting or instability may be disabled or zeroed out. In one embodiment, all secondary path filters associated with a particular speaker may be disabled. In another embodiment, secondary path filters that cause noise boosting may be replaced or updated with estimates of the secondary path S'(z) stored in secondary path filters that do not boost the noise level in the cabin, as determined in step 625.

[0058] As noted, the above method embodiments are possible using either the music signal M(n), the anti-noise signal Y(n) or a combination of both signals. If the speaker signal S(n) sent to the speaker 524 consists of only music, the above process may subtract only the music from the error signal e(n), allowing the signal analysis controller 562 to predict the presence of noise boosting. If the speaker signal S(n) sent to the speaker 524 consists of only anti-noise, the above process may subtract only the anti-noise from the error signal e(n), allowing the signal analysis controller 562 to detect the presence of noise boosting. Because the secondary path S(z) may depend on the signal amplitude S(z), multiple estimates of the secondary path S'(z) may be stored and used as a set to most accurately predict the presence of noise boosting. For example, the anti-noise signal Y(n) is typically lower in amplitude than the music signal M(n), because typical road noise levels are lower than typical levels at which passengers listen to music. In one embodiment, a set of secondary path estimates S'(z) at various levels are stored and used as a set, with the lower playback amplitudes S'(z) used in secondary path filter 522 and the higher playback amplitudes S'(z) used in secondary path filter 564 to generate the estimated music signal M'(z). If boosting is detected in step 625, a new set of stored secondary path estimates S'(z) is replaced in secondary path filters 522 and 564. It should also be noted that typical music or anti-noise does not contain energy at any frequency in each analysis frame. Therefore, in one embodiment, averaging of some of the FFT frames may be required to provide a reliable analysis by signal analysis controller 562 across the noise cancellation frequency range when comparing error signal e(n) with the adjusted error signal e'(n).

[0059] In one embodiment, additional thresholding can enhance the detection of noise boosting due to mismatch of S'(z) vs. S(z). Note that when using a music signal to determine boosting, the level of the music may typically be set to be 20 dB greater than the level of the sum of all other sources of background noise (speech, road noise, engine, etc.), thereby achieving a signal-to-noise ratio (SNR) of 20 dB. In this case, when the estimated music signal M'(n) is subtracted from the error signal e(n), a significant reduction (e.g., on the order of 10 dB or more) in the level of the adjusted error signal e'(n) relative to the error signal e(n) can be calculated. This significant reduction is possible because the estimated music signal M'(n) is 20 dB greater than the sum of all other contributions to the error signal e(n) and is the dominant contributor to the error signal e(n). If the music playback is set to a level 20 dB quieter than the sum of all other sounds in the vehicle, the total reduction level can be lower, thereby achieving a -20 dB SNR. In this case, subtracting the estimated music signal M'(n) from the error signal e(n) would produce only an adjusted error signal e'(n), which could be 1 dB lower than the error signal e(n). In one embodiment, the relative levels of the error signal e(n), the estimated music signal M'(n) and the estimated anti-noise signal Y'(n) can be used to dynamically calculate an SNR that increases or decreases the threshold used to determine whether boosting is detected. In one embodiment, thresholds are stored for two or more SNRs for either or both of the estimated music signal M'(n) and the estimated anti-noise signal Y'(n).

[0060] 1, 3, and 5 show LMS-based adaptive filter controllers 120, 320, and 520, respectively, other methods and devices for adapting or generating the optimal controllable W filter 118, 318, and 518 are possible. For example, in one or more embodiments, a neural network may be used to generate and optimize the W filter instead of an LMS adaptive filter controller. In other embodiments, machine learning or artificial intelligence may be used to generate the optimal W filter instead of an LMS adaptive filter controller.

[0061] In the preceding description, the subject matter of the present invention has been described with reference to certain exemplary embodiments. However, various modifications and changes may be made without departing from the scope of the subject matter of the present invention as set forth in the claims. The specification and drawings are for purposes of illustration and not of limitation, and modifications are intended to be included within the scope of the subject matter of the present invention. Thus, the scope of the subject matter of the present invention should be determined by the claims and their legal equivalents, and not merely by the examples described.

[0062] For example, the steps recited in any method or process claim may be performed in any order and are not limited to the particular order presented in the claims. Equations may be implemented with filters to minimize the effects of signal noise. Additionally, the components and / or elements recited in any apparatus claim may be combined or otherwise operatively configured in various permutations and therefore are not limited to the particular configurations recited in the claims.

[0063] Those skilled in the art will appreciate that functionally equivalent processing steps can occur in either the time or frequency domain. Thus, although not explicitly stated for each signal processing block in the figures, signal processing may occur in either the time domain, the frequency domain, or a combination thereof. Furthermore, although various processing steps are described in general terms of digital signal processing, equivalent steps may be performed using analog signal processing without departing from the scope of the present disclosure.

[0064] Benefits, advantages, and solutions to problems have been described above with respect to specific embodiments. However, any benefit, advantage, solution to a problem, or any element that may give rise to or make more pronounced any particular benefit, advantage, or solution should not be construed as a critical, essential, or essential feature or component of any or all of the claims.

[0065] The terms "comprise," "comprises," "comprising," "having," "including," "includes," or any variations thereof, are intended to refer to a non-exclusive inclusion, whereby a process, method, article, composition, or device comprising a list of elements includes not only those elements listed, but may further include other elements not expressly listed or inherent to such process, method, article, composition, or device. Other combinations and / or modifications of the above-described structures, configurations, applications, formulations, elements, materials, or components used in the practice of the inventive subject matter, in addition to those not specifically listed, may be varied without departing from the general principles of the invention or otherwise specifically adapted to a particular environment, manufacturing specifications, design parameters, or other operational requirements.

Claims

1. 1. A method for controlling stability of an active noise cancellation (ANC) system, the method comprising: receiving an error signal from a microphone; generating a speaker signal to be radiated from a speaker, the speaker signal including at least one music signal; filtering the music signal using a secondary path filter to obtain an estimated music signal, the secondary path filter being defined by a stored transfer characteristic that estimates a secondary path between the speaker and the microphone; modifying the error signal using the estimated music signal to obtain an adjusted error signal; detecting an occurrence of noise boosting based on a comparison of the error signal with the adjusted error signal; A method comprising:

2. modifying the error signal using the estimated music signal to obtain an adjusted error signal comprises, if the error signal includes music, subtracting the estimated music signal from the error signal to obtain the adjusted error signal; 2. The method of claim 1 , wherein detecting an occurrence of noise boosting based on a comparison of the error signal to the adjusted error signal comprises detecting the occurrence of noise boosting when an energy of the adjusted error signal exceeds an energy of the error signal.

3. modifying the error signal using the estimated music signal to obtain an adjusted error signal comprises, if the error signal includes music, subtracting the estimated music signal from the error signal to obtain the adjusted error signal; 2. The method of claim 1 , wherein detecting an occurrence of noise boosting based on a comparison of the error signal to the adjusted error signal comprises detecting the occurrence of noise boosting when an energy of the error signal does not exceed an energy of the adjusted error signal by a predetermined threshold.

4. The method of claim 1 , wherein the speaker signal further comprises an anti-noise signal.

5. The method of claim 1 , further comprising disabling the speaker signal in response to detecting an occurrence of noise boosting.

6. The secondary path filter is further used to filter a noise signal from a sensor to obtain a filtered noise signal, an adaptive filter controller is configured to control an adaptive transfer characteristic based on the filtered noise signal and the error signal, and a controllable filter is configured to generate an anti-noise signal based on the adaptive transfer characteristic and the noise signal, and the method further comprises: The method of claim 1 , comprising disabling the anti-noise signal in response to detecting an occurrence of noise boosting.

7. The secondary path filter is further used to filter a noise signal from a sensor to obtain a filtered noise signal, the method further comprising: The method of claim 1 , comprising modifying the stored transfer characteristic in the secondary path filter in response to detecting an occurrence of noise boosting.

8. 8. The method of claim 7, wherein modifying the stored transfer characteristic comprises replacing the stored transfer characteristic with another transfer characteristic that provides a different estimate of the secondary path between the speaker and the microphone.

9. A computer-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to perform a method for active noise cancellation (ANC), the method comprising: receiving an error signal from a microphone; receiving a noise signal from a sensor; filtering the noise signal using a first secondary path filter to obtain a filtered noise signal, the first secondary path filter being defined by a stored transfer characteristic that estimates a secondary path between a speaker and the microphone; controlling filter coefficients of a controllable filter based on the filtered noise signal and the error signal; generating an anti-noise signal to be radiated from the speaker based on the noise signal and the filter coefficients; filtering the music signal with a second secondary path filter to obtain an estimated music signal, the second secondary path filter being a copy of the first secondary path filter; and subtracting the estimated music signal from the error signal to obtain an adjusted error signal; detecting an occurrence of noise boosting based on a comparison of the error signal with the adjusted error signal; A computer-readable storage medium comprising:

10. The method according to claim 1, The computer-readable storage medium of claim 9 , further comprising disabling the anti-noise signal emitted by the speaker in response to detecting an occurrence of noise boosting.

11. The method according to claim 1, The computer-readable storage medium of claim 9 , further comprising modifying the stored transfer characteristic of the first secondary path filter in response to detecting an occurrence of noise boosting.

12. The method according to claim 1, filtering the anti-noise signal using the second secondary path filter to obtain an estimated anti-noise signal; subtracting the estimated anti-noise signal from the error signal to obtain the adjusted error signal; The computer-readable storage medium of claim 9 , further comprising:

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