Signal processing device and signal processing method

Abstract

To provide a signal processor and a signal processing method, which can suppress mixed sound such as untargeted voice that a speaker emits, which is mixed in target voice and can prevent the target voice from being suppressed.SOLUTION: A signal processor comprises: a first acquisition section 15 for acquiring a first signal outputted from a first microphone 11; a second acquisition section 16 for acquiring a second signal outputted from a second microphone 12 arranged in a position different from the first microphone 11; a delay section 4a for delaying the second signal; a mixed sound estimation section 2 for estimating noise mixed in the first signal on the basis of the second signal delayed by the delay section 4a; and a deletion section 3 for deleting the noise estimated in the mixed sound estimation section 2 from the first signal.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a signal processing device and a signal processing method. [Background technology]

[0002] As an in-vehicle device, a sound collection device is often provided mainly in the driver's seat for the purpose of acquiring the voice of the driver or the like in the vehicle. This allows the driver or the like to perform operations by voice when using infotainment or the like. For example, Patent Document 1 discloses an in-vehicle sound collection device and a sound collection method that can estimate and suppress noise, which is a voice other than that of the driver, that is mixed into a target voice, such as the voice of the driver or the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-083600 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technique disclosed in Patent Document 1, when a part of a target voice is erased, the target voice may be suppressed.

[0005] An object of the present disclosure is to suppress noise mixed into a target voice and to prevent the suppression of the target voice. [Means for solving the problem]

[0006] exampleFor example, a signal processing device according to the present disclosure includes a first acquisition unit that acquires a first signal output from a first microphone, a second acquisition unit that acquires each of a plurality of second signals output from a plurality of second microphones installed at positions different from the first microphone, and a second acquisition unit that outputs each of the plurality of second signals. With the same delay time a delay unit that delays the first signal, a mixed sound estimation unit that estimates noise mixed into the first signal based on the plurality of second signals delayed by the delay unit, and an erasure unit that erases the noise estimated by the mixed sound estimation unit from the first signal. 。 Also, for example, a signal processing method according to the present disclosure includes a first acquisition step of acquiring a first signal output from a first microphone, a second acquisition step of acquiring each of a plurality of second signals output from a plurality of second microphones installed at positions different from the first microphone, and With the same delay time The method includes a delay step of delaying a first signal, a contaminating sound estimation step of estimating noise contaminating the first signal based on the plurality of second signals delayed by the delay step, and an elimination step of eliminating the noise estimated in the contaminating sound estimation step from the first signal. Effect of the Invention

[0007] The signal processing device and the signal processing method according to the present disclosure can suppress mixed sounds such as non-target sounds that have mixed into a target sound, and can prevent the target sound from being suppressed. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a configuration diagram of a signal processing device according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a flowchart showing the operation of the signal processing device according to the embodiment of the present disclosure. [Diagram 3]FIG. 3 is a diagram showing the frequency characteristics before and after processing by the erasure unit of a signal representing the driver's voice obtained from microphone 11 installed in the driver's seat when the delay unit delays the signal by 0 msec in an embodiment of the present disclosure. [Figure 4] FIG. 4 is a diagram showing the frequency characteristics before and after processing by the erasure unit of a signal representing the driver's voice obtained from microphone 11 installed in the driver's seat when the delay unit delays the signal by 2 msec in an embodiment of the present disclosure. [Diagram 5] FIG. 5 is a diagram showing frequency characteristics before and after processing by the erasure unit of a signal representing the driver's voice acquired from microphone 11 installed in the driver's seat when the signal is delayed by 6 msec in the delay unit in an embodiment of the present disclosure. [Figure 6] FIG. 6 is a diagram showing the frequency characteristics before and after processing by the erasure unit of a signal representing the voice of a passenger in the passenger seat acquired from microphone 11 installed in the driver's seat when the signal is delayed by 0 msec in the delay unit in an embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram showing the frequency characteristics before and after processing by the erasure unit of a signal representing the voice of a passenger in the passenger seat acquired from microphone 11 installed in the driver's seat when the signal is delayed by 2 msec in the delay unit in an embodiment of the present disclosure. [Figure 8] FIG. 8 is a diagram showing the frequency characteristics before and after processing by the erasure unit of a signal representing the voice of a passenger in the passenger seat acquired from microphone 11 installed in the driver's seat when the signal is delayed by 6 msec in the delay unit in an embodiment of the present disclosure. [Figure 9] FIG. 9 is a diagram of a translation system to which a signal processing system is applied in a modified example of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] (Findings on which this disclosure is based) Conventionally, in order to estimate noise from a target voice, a method has been used in which a signal acquired from a microphone placed at a position distant from the microphone that acquires the target voice is used to estimate noise mixed into the microphone that acquires the target voice, and the noise mixed into the target voice is suppressed. For example, when it is desired to acquire the driver's voice from a microphone installed in the driver's seat, it is necessary to identify the voice of the passenger in the seat other than the driver's seat that is included in the voice acquired by the microphone installed in the driver's seat. For this reason, the voice of the passenger in the seat other than the driver's seat that is mixed into the voice acquired from the microphone installed in the driver's seat has been identified using the voices acquired from the microphones installed in the seats other than the driver's seat. However, in order to use this method, it was necessary to control the operation of the sound collection device such as a microphone installed in each seat in accordance with the timing of each passenger's speech. However, it is difficult to determine whether the passenger in each seat is speaking, and if a wrong decision is made as to whether the passenger in each seat is speaking and control is performed, there is a problem that the target voice is suppressed. In addition, if control is performed based on an incorrect judgment of whether or not an occupant in each seat is speaking, there is also the problem that the performance of suppressing noise, such as the voices of other passengers, that is mixed into the target voice is reduced.

[0010] Therefore, a signal processing device according to one aspect of the present disclosure may include a first acquisition unit that acquires a first signal output from a first microphone, a second acquisition unit that acquires a second signal output from a second microphone installed at a position different from the first microphone, a delay unit that delays the second signal, a mixed sound estimation unit that estimates noise mixed into the first signal based on the second signal delayed by the delay unit, and an erasure unit that erases the noise estimated by the mixed sound estimation unit from the first signal.

[0011] As a result, the signal processing device according to the aspect of the present disclosure can suppress the signal representing the noise sound mixed into the target sound without suppressing the signal representing the target sound, thereby enabling the signal processing device according to the aspect of the present disclosure to more accurately recognize the target sound.

[0012] Also, for example, the delay unit may delay the second signal by a time period determined based on a positional relationship between the first microphone and the second microphone.

[0013] This allows the signal processing device according to the embodiment of the present disclosure to prevent the second signal representing the noise from arriving at the cancellation unit later than the first signal representing the target voice. Therefore, the signal processing device according to the embodiment of the present disclosure can process the first signal using the second signal that has already arrived at the cancellation unit.

[0014] Also, for example, the delay section may delay the second signal based on a frequency component included in the second signal.

[0015] This allows the signal processing device according to the embodiment of the present disclosure to set a more appropriate delay time for the second signal representing the noise, and therefore the signal processing device according to the embodiment of the present disclosure to more effectively suppress the noise mixed in the first signal representing the target voice.

[0016] Furthermore, a signal processing method according to one aspect of the present disclosure may include a first acquisition step of acquiring a first signal output from a first microphone, a second acquisition step of acquiring a second signal output from a second microphone installed at a position different from the first microphone, a delay step of delaying the second signal, a mixed sound estimation step of estimating noise mixed into the first signal based on the second signal delayed by the delay step, and an elimination step of eliminating the noise estimated in the mixed sound estimation step from the first signal.

[0017] As a result, the signal processing method according to the embodiment of the present disclosure can suppress the signal representing the noise sound mixed into the target sound without suppressing the signal representing the target sound, thereby allowing the signal processing device according to the embodiment of the present disclosure to more accurately recognize the target sound.

[0018] (Embodiment) Hereinafter, the embodiment will be specifically described with reference to the drawings.

[0019] 1 is a configuration diagram of a signal processing device according to an embodiment of the present disclosure. The signal processing device 1 according to the embodiment of the present disclosure is composed of a microphone 11, a microphone 12, a microphone 13, a microphone 14, a first acquisition unit 15, a second acquisition unit 16, a third acquisition unit 17, a fourth acquisition unit 18, a delay unit 4a, a delay unit 4b, a delay unit 4c, a mixed sound estimation unit 2 including adaptive filters 2a, 2b, and 2c, and an erasure unit 3.

[0020] Microphones 11, 12, 13, and 14 receive sounds and convert them into signals. The microphones may be moving coil microphones or ribbon microphones. The microphones may also be condenser microphones or laser optical microphones.

[0021] The first acquisition unit 15 is electrically connected to the microphone 11 in a wired or wireless manner. The first acquisition unit 15 receives, from the microphone 11, a signal obtained by converting a sound acquired by the microphone 11. The first acquisition unit 15 does not have a delay unit.

[0022] The second acquisition unit 16 is electrically connected to the microphone 12 in a wired or wireless manner. The second acquisition unit 16 receives from the microphone 12 a signal obtained by converting the sound acquired by the microphone 12.

[0023] The third acquisition unit 17 is electrically connected to the microphone 13 in a wired or wireless manner. The third acquisition unit 17 receives from the microphone 13 a signal obtained by converting the sound acquired by the microphone 13.

[0024] The fourth acquisition unit 18 is electrically connected, either wired or wirelessly, to the microphone 14. The fourth acquisition unit 18 receives, from the microphone 14, a signal obtained by converting the sound acquired by the microphone 14.

[0025] The first acquisition unit 15, the second acquisition unit 16, the third acquisition unit 17, the fourth acquisition unit 18, the delay unit 4a, the delay unit 4b, the delay unit 4c, the mixed sound estimation unit 2 including the adaptive filter 2a, the adaptive filter 2b, and the adaptive filter 2c, and the elimination unit 3 are realized by a processor and a memory. The functions of the processor and the memory may be those provided by cloud computing. Also, the first acquisition unit 15, the second acquisition unit 16, the third acquisition unit 17, the fourth acquisition unit 18, the adaptive filter 2a, the adaptive filter 2b, and the adaptive filter 2c may be realized by a dedicated circuit, respectively.

[0026] The delay unit 4a is electrically connected to the second acquisition unit 16, the delay unit 4b is electrically connected to the third acquisition unit 17, and the delay unit 4c is electrically connected to the fourth acquisition unit 18, each by wire or wirelessly. The delay unit 4a, the delay unit 4b, and the delay unit 4c receive the second signal, the third signal, and the fourth signal acquired by the second acquisition unit 16, the third acquisition unit 17, and the fourth acquisition unit 18, respectively, and delay the received signals for a predetermined time. Here, delaying a signal means transmitting the signals received by the delay unit 4a, the delay unit 4b, and the delay unit 4c to the mixed sound estimation unit 2 after a certain time has passed. In addition, for example, the delay unit 4a, the delay unit 4b, and the delay unit 4c are a memory group that realizes a stack by a plurality of memories connected in series in order to delay a signal for a predetermined time. The memory group may output the acquired signal in a First In First Out (FIFO) manner in order to delay the signal. Also, for example, the time during which delay unit 4a, delay unit 4b, and delay unit 4c output signals is equal to or less than the value obtained by dividing the distance between microphone 11 and each of microphones 12, 13, and 14 by the speed of sound.

[0027] The mixed sound estimation unit 2 includes an adaptive filter 2a, an adaptive filter 2b, and an adaptive filter 2c. The mixed sound estimation unit 2 is electrically connected to the delay unit 4a, the delay unit 4b, and the delay unit 4c by wire or wirelessly. The mixed sound estimation unit 2 receives the second signal, the third signal, and the fourth signal delayed by the delay unit 4a, the delay unit 4b, and the delay unit 4c. The mixed sound estimation unit 2 estimates the noise mixed into the first signal acquired by the first acquisition unit 15 based on the second signal, the third signal, and the fourth signal.

[0028] Specifically, the mixed sound estimation unit 2 corrects the filter coefficients of the adaptive filters 2a, 2b, and 2c using a predetermined adaptive algorithm so that the signal SO (an example of an output signal) output from the elimination unit 3 is uncorrelated or independent of the inputs of the adaptive filters 2a, 2b, and 2c. The signal SO is a signal obtained by subtracting the mixed sound signal S2' from the signal S1 (an example of a first signal) acquired by the microphone 11. Therefore, when the filter coefficient of the adaptive filter 2a is corrected so that the signal SO is uncorrelated or independent of the input of the adaptive filter 2a, the signal output from the adaptive filter 2a indicates the mixed sound signal S2' indicating the mixed sound, which is the sound of the voice of the passenger P2 contained in the signal S1 mixed into the voice generated by the passenger P1.

[0029] The mixed sound estimation unit 2 may periodically execute the correction process of the filter coefficients, or may execute the correction process each time the microphone 12, the microphone 13, and the microphone 14 acquire signals of a certain level or higher. Here, as the predetermined adaptive algorithm, an LMS (The least-mean-square) algorithm, an ICA (Independent Component Analysis) algorithm, or the like may be adopted.

[0030] The adaptive filters 2a, 2b, and 2c extract a necessary signal from a received signal through a mathematical filter with variable coefficients. Specifically, as described above, the adaptive filters 2a, 2b, and 2c can calculate new coefficients at any time and change the coefficients used in the filters. The coefficients can be calculated using dynamic nonlinear feedback control or the like, in which the outputs of the adaptive filters 2a, 2b, and 2c are fed back and used. The adaptive filters 2a, 2b, and 2c can also change the magnitude (gain) of the output of the received signal. An LMS filter or the like can be used as the adaptive filter.

[0031] The elimination unit 3 is electrically connected, via wire or wirelessly, to the first acquisition unit 15 and the mixed sound estimation unit 2. The elimination unit 3 suppresses noise estimated by the mixed sound estimation unit 2 in the first signal acquired by the first acquisition unit 15.

[0032] For example, in the signal processing device 1, the microphone 11 may be installed in the driver's seat of the automobile, the microphone 12 in the passenger seat of the automobile, and the microphones 13 and 14 in the rear seats of the automobile. In this case, the signal processing device 1 operates to suppress noise from the voice of a passenger (driver) in the driver's seat of the automobile. In order to suppress noise from the voice of a passenger in a seat other than the driver's seat of the automobile, a signal processing system symmetrical to the above components may be installed in the automobile. For example, in order to suppress noise from the voice of a passenger in the passenger seat of the automobile, the microphone 11 may be installed in the passenger seat of the automobile, the microphone 12 in the driver's seat of the automobile, and the microphones 13 and 14 in the rear seats of the automobile. Also, for example, in order to suppress noise from the voice of a passenger in the left rear seat of the automobile, the microphone 11 may be installed in the left rear seat of the automobile, the microphone 12 in the driver's seat of the automobile, the microphone 13 in the passenger seat of the automobile, and the microphone 14 in the right rear seat of the automobile. Also, for example, in order to suppress noise from the voice of a passenger in the right rear seat of the car, microphone 11 may be installed in the right rear seat of the car, microphone 12 in the driver's seat of the car, microphone 13 in the passenger seat of the car, and microphone 14 in the left rear seat of the car. Also, a plurality of these symmetrical signal processing systems may be installed.

[0033] The connection relationship between microphone 11, microphone 12, microphone 13, and microphone 14 and other components of signal processing device 1 is the same as that described above. Furthermore, the installation locations of microphone 11, microphone 12, microphone 13, and microphone 14 are not limited to the locations shown above. Furthermore, the number of seats in a car on which microphones are installed is not limited to four. Four or more microphones may be installed in four or more locations. For example, six seats in a passenger car with three rows of seats may be used, or six or more locations may be used. Furthermore, the number of locations on which microphones are installed may be three or less.

[0034] Moreover, each of the components described here may be provided in multiple units in the signal processing device 1.

[0035] 2 is a flowchart showing the operation of the signal processing device according to the embodiment of the present disclosure. The flow of the entire system will be described below using the flowchart.

[0036] First, in the signal processing device 1, the first acquisition unit 15 and the second acquisition unit 16 acquire a first signal and a second signal from the microphone 11 and the microphone 12, respectively (step S101). At this time, the third acquisition unit 17 and the fourth acquisition unit 18 may further acquire a third signal and a fourth signal from the microphone 13 and the microphone 14, respectively.

[0037] Next, in the signal processing device 1, the delay unit 4a delays the second signal received from the second acquisition unit 16 by a predetermined time (step S102). At this time, the delay units 4b and 4c may further delay the third signal received from the third acquisition unit 17 and the fourth signal received from the fourth acquisition unit 18 by a predetermined time.

[0038] The times by which the delay units 4a, 4b, and 4c delay the second signal, the third signal, and the fourth signal may all be the same or may be different from each other. The times by which the delay units 4a, 4b, and 4c delay the second signal, the third signal, and the fourth signal may be determined from the positional relationship between the microphone 11 and each of the microphones 12, 13, and 14. Here, the positional relationship refers to, for example, the distance from the microphone 11. For example, the longer the distance from the microphone 11, the longer the time by which the signal is delayed may be.

[0039] Also, the time by which the delay unit 4a, the delay unit 4b, and the delay unit 4c delay the second signal, the third signal, and the fourth signal may be determined individually according to the frequency of each of the second signal, the third signal, and the fourth signal. For example, the delay unit 4a identifies the frequency of the second signal by frequency analysis. Then, the delay unit 4a may determine the time by which the signal is delayed based on a table that is prepared in advance and that defines the delay time according to the frequency. Also, the delay unit 4a may determine the time by which the signal is delayed according to the frequency component even within the same signal. Since a low-frequency signal has a long wavelength, the delay of the signal is less effective. For example, it has been found from experiments that if the time by which the low-frequency signal is delayed is set to a certain time or more, the degree to which the first signal is suppressed is reduced. Therefore, for example, the time by which the signal of the low-frequency component is delayed may be set to be longer than a certain time, and the time by which the signal of the high-frequency component is delayed may be set to be shorter than the certain time.

[0040] Furthermore, the times by which the delay units 4a, 4b and 4c delay the second signal, the third signal and the fourth signal may be determined based on the temperature inside the vehicle compartment or the like.

[0041] The times by which the delay units 4a, 4b, and 4c delay the second signal, the third signal, and the fourth signal are set by the delay units 4a, 4b, and 4c so as not to exceed the time it takes for sound to travel between the microphone 11 and the microphone 12, the microphone 13, and the microphone 14. For example, if the distance between the microphone 11 and the microphone 12 is 1 m and the time it takes for sound to travel between the microphone 11 and the microphone 12 is 3 msec, the delay unit 4a sets a delay time of 3 msec or less for the second signal.

[0042] Next, in the signal processing device 1, the mixed sound estimation unit 2 estimates the noise mixed into the first signal acquired by the first acquisition unit 15 based on the second signal delayed by the delay unit 4a (step S103). At this time, the mixed sound estimation unit 2 may further estimate the noise mixed into the first signal acquired by the first acquisition unit 15 based on the third signal and the fourth signal delayed by the delay unit 4b and the delay unit 4c.

[0043] Then, in the signal processing device 1, the elimination unit 3 suppresses the noise estimated by the mixed sound estimation unit 2 in the first signal (step S104).

[0044] Next, the state of a signal processed in the signal processing device 1 will be described with reference to FIGS.

[0045] In the signal processing device 1, by appropriately delaying the signals acquired by the second acquisition unit 16, the third acquisition unit 17, and the fourth acquisition unit 18, it is possible to prevent the signal representing the target voice included in the signal representing the voice, etc. acquired from the second acquisition unit 16, the third acquisition unit 17, and the fourth acquisition unit 18 from being estimated as noise. The signal representing the target voice included in the signal representing the voice, etc. acquired by the second acquisition unit 16, the third acquisition unit 17, and the fourth acquisition unit 18 arrives at the erasure unit 3 later than the signal representing the target voice acquired from the first acquisition unit 15. For this reason, the erasure unit 3 does not suppress the target voice acquired by the first acquisition unit 15 based on the signal representing the target voice included in the signal representing the voice, etc. acquired from the second acquisition unit 16, the third acquisition unit 17, and the fourth acquisition unit 18.

[0046] FIG. 3 is a diagram showing frequency characteristics before and after processing by the elimination unit of a signal representing the driver's voice acquired from the microphone 11 installed in the driver's seat when the delay unit delays the signal by 0 msec in the embodiment of the present disclosure. Line 100 is the frequency characteristic of the first signal not processed by the elimination unit 3 when the delay unit 4a delays the second signal by 0 msec. Line 101 is the frequency characteristic of the first signal processed by the elimination unit 3 when the delay unit 4a delays the second signal by 0 msec. Between about 100 Hz and about 10,000 Hz, line 101 shows a lower value than line 100. In other words, when the delay unit 4a adds a delay of 0 msec to the second signal, if the elimination unit 3 is operated, the elimination unit 3 suppresses the first signal. This is because the second signal contains a signal with the same waveform as the first signal, and the first signal is suppressed by erasing the noise estimated using the second signal.

[0047] For example, consider a case where the voice acquired by the microphone 12 installed in the passenger seat is used to suppress noise from the voice acquired by the microphone 11 installed in the driver's seat. The voice emitted by the driver is mixed into the voice acquired by the microphone 12 installed in the passenger seat after being reflected in the vehicle cabin. Based on the driver's voice mixed into the voice acquired by the microphone 12 installed in the passenger seat, the driver's voice included in the voice acquired by the microphone 11 installed in the driver's seat is suppressed.

[0048] 4 is a diagram showing frequency characteristics of a signal representing the driver's voice acquired from a microphone 11 installed in the driver's seat before and after processing by the elimination unit when the delay unit delays the signal by 2 msec in the embodiment of the present disclosure. Line 102 shows the frequency characteristics of the first signal not processed by the elimination unit 3 when the delay unit 4a delays the second signal by 2 msec. Line 103 shows the frequency characteristics of the first signal processed by the adaptive filter 2a when the delay unit 4a delays the second signal by 2 msec. Between about 100 Hz and about 10,000 Hz, line 102 shows lower values ​​than line 103, but the difference is smaller than the difference between line 100 and line 101 shown in FIG. 3.

[0049] In other words, when the delay unit 4a delays the second signal by 2 msec, operating the erasure unit 3 reduces the amount of suppression of the first signal by the erasure unit 3. This is because the signal with the same waveform as the first signal contained in the second signal is reduced by delaying the second signal by 2 msec. Therefore, the suppression of the first signal by erasing the noise estimated using the second signal is reduced more than in the case shown in FIG.

[0050] Here, since the speed of sound in the air is about 340 m / sec, a delay of 2 msec corresponds to a distance that the voice travels of about 60 cm to about 70 cm. In other words, if the microphones 11 and 12 are installed about 60 cm to about 70 cm apart, the time it takes for the driver's voice to reach the microphone 12 is about 2 msec.

[0051] For example, consider a case where the voice acquired by the microphone 12 installed in the passenger seat is used to suppress noise from the voice acquired by the microphone 11 installed in the driver's seat. The voice emitted by the driver is mixed into the voice acquired by the microphone 12 installed in the passenger seat through reflection in the vehicle cabin. However, by delaying the signal representing the voice acquired by the microphone 12 installed in the passenger seat by 2 msec, the degree to which the voice of the driver included in the voice acquired by the microphone 11 installed in the driver's seat is suppressed based on the voice of the driver included in the voice acquired by the microphone 12 installed in the passenger seat is reduced. In order for the elimination unit 3 to suppress the voice of the driver included in the voice acquired by the microphone 11 installed in the driver's seat based on the voice of the driver included in the voice acquired by the microphone 12 installed in the passenger seat, the voice acquired by the microphone 12 installed in the passenger seat must arrive at the elimination unit 3 before the voice acquired by the microphone 11 installed in the driver's seat. However, by delaying the voice acquired by microphone 12 installed in the passenger seat, the voice acquired by microphone 12 installed in the passenger seat cannot arrive at the erasure unit 3 before the voice acquired by microphone 11 installed in the driver's seat. Therefore, the degree to which the erasure unit 3 suppresses the driver's voice contained in the voice acquired by microphone 11 installed in the driver's seat based on the driver's voice contained in the voice acquired by microphone 12 installed in the passenger seat is reduced.

[0052] FIG. 5 is a diagram showing frequency characteristics of a signal representing the driver's voice acquired from the microphone 11 installed in the driver's seat before and after processing by the elimination unit when the signal is delayed by 6 msec in the delay unit in the embodiment of the present disclosure. Line 104 is the frequency characteristic of the first signal not processed by the elimination unit 3 when the first signal is delayed by 6 msec. Line 105 is the frequency characteristic of the first signal processed by the adaptive filter 2a when the first signal is delayed by 6 sec. Between about 100 Hz and about 10000 Hz, line 104 shows a lower value than line 105, but the difference between line 104 and line 105 is smaller than the difference between line 102 and line 103 shown in FIG. 4.

[0053] In other words, when the delay unit 4a delays the second signal by 6 msec, operating the erasure unit 3 reduces the amount of suppression of the first signal by the erasure unit 3. This is because the signal with the same waveform as the first signal contained in the second signal is reduced by delaying the second signal by 6 msec. Therefore, the suppression of the first signal by erasing the noise estimated using the second signal is reduced by more than the difference between lines 102 and 103 shown in FIG. 4.

[0054] For example, consider a case where the voice acquired by the microphone 12 installed in the passenger seat is used to suppress noise from the voice acquired by the microphone 11 installed in the driver's seat. The voice emitted by the driver is mixed into the voice acquired by the microphone 12 installed in the passenger seat after being reflected in the vehicle cabin. However, by delaying the signal representing the voice acquired by the microphone 12 installed in the passenger seat by 6 msec, the degree to which the driver's voice included in the voice acquired by the microphone 11 installed in the driver's seat is suppressed based on the driver's voice included in the voice acquired by the microphone 12 installed in the passenger seat is further reduced compared to the case of delaying by 2 msec.

[0055] As can be seen from FIGS. 3, 4 and 5, the degree to which the signal representing the target voice is suppressed is reduced by delaying it in the delay section.

[0056] FIG. 6 is a diagram showing frequency characteristics of a signal representing the voice of a passenger in the passenger seat acquired from the microphone 11 installed in the driver's seat before and after processing by the elimination unit when the signal is delayed by 0 msec in the delay unit in the embodiment of the present disclosure. Line 106 shows the frequency characteristics of the first signal not processed by the elimination unit 3 when the first signal is delayed by 0 msec. Line 107 shows the frequency characteristics of the first signal processed by the adaptive filter 2a when the first signal is delayed by 0 msec. Between about 100 Hz and about 10,000 Hz, line 104 shows a value about 20 dB lower than line 105. In other words, the voice of the passenger in the passenger seat mixed into the microphone 11 installed in the driver's seat is suppressed.

[0057] For example, consider a case where a voice acquired by microphone 12 installed in the passenger seat is used to suppress noise from a voice acquired by microphone 11 installed in the driver's seat. A voice emitted by a passenger in the passenger seat is mixed into the voice acquired by microphone 11 installed in the driver's seat directly or through reflection in the vehicle cabin. This mixed noise is estimated using a waveform of the signal of the voice acquired by microphone 12 installed in the passenger seat, thereby removing the noise from the voice acquired by microphone 11 installed in the driver's seat. As shown in FIG. 6, when a signal representing the voice acquired by microphone 12 installed in the passenger seat is delayed by 0 msec, the voice acquired by microphone 11 installed in the driver's seat is suppressed by about 20 dB.

[0058] FIG. 7 is a diagram showing frequency characteristics of a signal representing the voice of a passenger in the passenger seat acquired from the microphone 11 installed in the driver's seat before and after processing by the elimination unit when the signal is delayed by 2 msec in the delay unit in the embodiment of the present disclosure. Line 108 shows the frequency characteristics of the first signal not processed by the elimination unit 3 when the first signal is delayed by 2 msec. Line 109 shows the frequency characteristics of the first signal processed by the adaptive filter 2a when the first signal is delayed by 2 msec. Between about 100 Hz and about 10,000 Hz, line 108 shows a lower value than line 109. However, the suppression amount of the first signal shown in FIG. 7 is reduced compared to the suppression amount of the first signal shown in FIG. 6.

[0059] For example, consider a case where a voice acquired by the microphone 12 installed in the passenger seat is used to suppress noise from a voice acquired by the microphone 11 installed in the driver's seat. As described above, a voice emitted by a passenger in the passenger seat is mixed into the voice acquired by the microphone 11 installed in the driver's seat directly or through reflection in the vehicle cabin. The mixed noise is estimated using a waveform of the signal of the voice acquired by the microphone 12 installed in the passenger seat, thereby removing the noise from the voice acquired by the microphone 11 installed in the driver's seat. As shown in FIG. 7, when the signal representing the voice acquired by the microphone 12 installed in the passenger seat is delayed by 2 msec, the degree to which the voice acquired by the microphone 11 installed in the driver's seat is suppressed is reduced compared to when the signal representing the voice acquired by the microphone 12 installed in the passenger seat is delayed by 0 msec. From the viewpoint of estimating the voice of the passenger in the passenger seat mixed into the voice acquired from microphone 11 installed in the driver's seat as noise and suppressing it from the voice acquired from microphone 11 installed in the driver's seat, it is preferable not to delay the signal representing the voice acquired from microphone 12 installed in the passenger seat.

[0060] FIG. 8 is a diagram showing frequency characteristics of a signal representing the voice of a passenger in the passenger seat acquired from a microphone 11 installed in the driver's seat before and after processing by the elimination unit when the signal is delayed by 6 msec in the delay unit in the embodiment of the present disclosure. Line 110 shows the frequency characteristics of the first signal not processed by the elimination unit 3 when the first signal is delayed by 6 msec. Line 111 shows the frequency characteristics of the first signal processed by the adaptive filter 2a when the first signal is delayed by 6 msec. Between about 100 Hz and about 10,000 Hz, line 110 shows a lower value than line 111. However, the suppression amount shown in FIG. 8 is lower than the suppression amount shown in FIG. 7.

[0061] For example, consider a case where a voice acquired by the microphone 12 installed in the passenger seat is used to suppress noise from a voice acquired by the microphone 11 installed in the driver's seat. As described above, a voice uttered by a passenger in the passenger seat is mixed into the voice acquired by the microphone 11 installed in the driver's seat directly or through reflection in the vehicle cabin. The mixed noise is estimated using a waveform of the signal of the voice acquired by the microphone 12 installed in the passenger seat, and the noise is removed from the voice acquired by the microphone 11 installed in the driver's seat. As shown in FIG. 7, when the signal representing the voice acquired by the microphone 12 installed in the passenger seat is delayed by 6 msec, the degree to which the voice acquired by the microphone 12 installed in the driver's seat is suppressed is reduced compared to when the signal representing the voice acquired by the microphone 12 installed in the passenger seat is delayed by 0 msec and when the signal representing the voice acquired by the microphone 12 installed in the passenger seat is delayed by 2 msec. From the viewpoint of estimating the voice of the passenger in the passenger seat mixed into the voice acquired from microphone 11 installed in the driver's seat as noise and suppressing the noise from the voice acquired from microphone 11 installed in the driver's seat, it is preferable not to delay the signal representing the voice acquired from microphone 12 installed in the passenger seat.

[0062] As can be seen from Figures 6, 7 and 8, the degree to which the signal representing the sound, which is noise, is suppressed is reduced by delaying it in the delay unit 4a. Therefore, in order to suppress the signal representing the sound, which is noise, it is preferable not to delay it beyond a predetermined time in the delay unit 4a.

[0063] Conversely, in order not to suppress the target voice, it is preferable to delay the signal for a predetermined time or more, as shown in Figures 3, 4, and 5. However, as described above, the time for which the signal is delayed is set by delay units 4a, 4b, and 4c so as not to exceed the time it takes for the voice to travel between microphone 11 and microphones 12, 13, and 14.

[0064] The signal delay times set by the delay units 4a, 4b, and 4c may be determined based on the tendency of audio suppression in the signal processing device 1 as shown in FIGS.

[0065] (Modification) The above-mentioned signal processing device 1 can also be applied to a translation system 20 that recognizes the speech of a speaker, translates it into another language, and outputs it. FIG. 9 is a diagram of a translation system to which a signal processing system is applied in a modified example of the present disclosure. As shown in FIG. 9, the translation system 20 is composed of a microphone 21a, a microphone 21b, a first acquisition unit 25, a second acquisition unit 26, a delay unit 24 including an adaptive filter 22, and an erasure unit 23. The translation system 20 may further include an information processing unit that recognizes noise-suppressed speech and performs translation, and an output unit that outputs the translation result.

[0066] The first acquisition unit 25 is electrically connected to the microphone 21a by wire or wirelessly. The first acquisition unit 25 acquires a first signal such as a voice from the microphone 21a. The first acquisition unit 25 receives from the microphone 21a a signal obtained by converting the voice acquired by the microphone 21a.

[0067] The second acquisition unit 26 is electrically connected to the microphone 21b by wire or wirelessly. The second acquisition unit 26 acquires a second signal such as a voice from the microphone 21b. The second acquisition unit 26 receives from the microphone 21b a signal obtained by converting the voice acquired by the microphone 21b.

[0068] The first acquisition unit 25, the second acquisition unit 26, the delay unit 24 including the adaptive filter 22, and the erasure unit 23 are realized by a processor and a memory. The functions of the processor and the memory may be those provided by cloud computing. Also, the first acquisition unit 25, the second acquisition unit 26, and the adaptive filter 22 may each be realized by a dedicated circuit.

[0069] The delay unit 24 is electrically connected, by wire or wirelessly, to the second acquisition unit 26. The delay unit 24 receives the fifth signal acquired by the second acquisition unit 26, and delays the received signal by a predetermined time.

[0070] The adaptive filter 22 is electrically connected to the delay unit 24 via a wired or wireless connection. The adaptive filter 22 receives the fifth signal delayed by the delay unit 24. The adaptive filter 22 estimates noise mixed into the fifth signal acquired by the first acquisition unit 25 based on the fifth signal.

[0071] The adaptive filter 22 extracts a required signal from a received signal by passing it through a mathematical filter with variable coefficients. The adaptive filter 22 can calculate new coefficients at any time and change the coefficients used in the filter.

[0072] The elimination unit 23 is electrically connected, via wire or wirelessly, to the first acquisition unit 25 and the adaptive filter 22. The elimination unit 23 suppresses the noise estimated by the adaptive filter 22 from the fifth signal acquired by the first acquisition unit 25.

[0073] The translation system 20 in the modified example of the present disclosure is assumed to be used by person 30a and person 30b face-to-face. In the translation system 20, the first acquisition unit 25 acquires the voice uttered by person 30a through the microphone 21a. In the translation system 20, the second acquisition unit 26 acquires the voice uttered by person 30b through the microphone 21b. The voice signal acquired by the second acquisition unit 26 is delayed for a certain time by the delay unit 24 and processed by the adaptive filter 22. Then, information on the noise estimated by the adaptive filter 22 arrives at the elimination unit 23. The elimination unit 23 suppresses the noise estimated by the adaptive filter 22 from the voice signal acquired by the first acquisition unit 25.

[0074] A translation process is performed on the noise-suppressed voice signal, and the translation result is output. In this manner, the translation system 20 can suppress noise, such as the voice uttered by the person 30b, from the voice uttered by the person 30a. The number of components included in the translation system 20 may be increased from those shown above. The translation system 20 in the modified example of the present disclosure is assumed to be used by two people, but the number of users is not limited to two. The translation system 20 in the modified example of the present disclosure may be configured to be used by three or more people.

[0075] Furthermore, these general or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be realized by any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

[0076] Although the signal processing device 1 and the signal processing method have been described above based on the embodiment, the signal processing system and the signal processing method are not limited to this embodiment. As long as it does not deviate from the spirit of this disclosure, various modifications conceived by a person skilled in the art to this embodiment and forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects. [Industrial Applicability]

[0077] The present disclosure is applicable to an in-vehicle sound collection system or a translation system. [Explanation of symbols]

[0078] 1. Signal Processing Device 2. Contamination noise estimation section 2a, 2b, 2c, 22 Adaptive Filter 3, 23 Erasing section 4a, 4b, 4c, 24 Delay section 11, 12, 13, 14, 21a, 21b Microphones 15, 25 1st acquisition part 16, 26 2nd acquisition part 17 Third acquisition part 18 4th acquisition part 20 Translation System 30a, 30b people 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111 lines

Claims

1. a first acquisition unit that acquires a first signal output from a first microphone; a second acquisition unit that acquires each of a plurality of second signals output from a plurality of second microphones that are installed at positions different from the first microphone; a delay unit that delays each of the plurality of second signals by the same delay time; a mixed sound estimation unit that estimates noise mixed into the first signal based on the plurality of second signals delayed by the delay unit; and an erasure unit that erases the noise estimated by the mixed sound estimation unit from the first signal. Signal processing device.

2. The number of the plurality of second microphones is three or more. The signal processing device according to claim 1 .

3. The plurality of second microphones are disposed so as to surround the first microphone.

3. A signal processing device according to claim 1 or 2.

4. A first acquisition step of acquiring a first signal output from a first microphone; a second acquisition step of acquiring a plurality of second signals output from a plurality of second microphones installed at positions different from the first microphone; a delay step of delaying each of the plurality of second signals by the same delay time; a mixing sound estimating step of estimating noise mixed into the first signal based on the plurality of second signals delayed by the delaying step; and a canceling step of canceling the noise estimated in the mixing sound estimation step from the first signal. Signal processing methods.

Images