Information processing device, information processing method, and program

Abstract

The present disclosure relates to an information processing device, an information processing method, and a program with which it is possible to realize superior noise cancellation. A tracking information acquisition unit acquires tracking information pertaining to the head of an occupant inside the compartment of a vehicle. A filter selection unit selects, from among noise cancellation filters generated on the basis of position information pertaining to the head, a noise cancellation filter corresponding to the tracking information. A noise cancellation unit outputs, from a speaker provided within the compartment, a noise cancellation signal generated on the basis of the selected noise cancellation filter and a sensor value obtained from an acceleration sensor mounted on the vehicle. The technology according to the present disclosure can be applied to, for example, a road noise cancellation system.

Description

Information processing device, information processing method, and program

[0001] The present disclosure relates to an information processing device, an information processing method, and a program, and more particularly to an information processing device, an information processing method, and a program that enable more suitable noise cancellation to be achieved.

[0002] A conventional technology for suppressing noise inside a vehicle cabin is known, which outputs a noise canceling signal from a speaker installed in the cabin. However, if the position of the passenger's head changes, the transfer function from the speaker to the ear changes, making it difficult to obtain a satisfactory noise canceling effect.

[0003] In response to this, methods have been proposed that use adaptive filters based on changes in transfer characteristics that accompany user displacement, as disclosed in Patent Documents 1 and 2.

[0004] JP 2021-081503 A JP 2020-189583 A

[0005] With the method using an adaptive filter, there were concerns that it took time for the filter coefficients to be updated after the passenger's ear position changed, and that the filter coefficients would diverge if they were unable to respond to sudden changes.

[0006] The present disclosure has been made in light of such circumstances, and aims to make it possible to achieve more suitable noise cancellation.

[0007] The information processing device of the present disclosure is an information processing device that includes a tracking information acquisition unit that acquires tracking information of a passenger's head within the vehicle cabin, a filter selection unit that selects a noise canceling filter that corresponds to the tracking information from among noise canceling filters generated based on the head position information, and a noise canceling unit that outputs a noise cancellation signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle and the selected noise canceling filter from a speaker provided within the vehicle cabin.

[0008] The information processing method disclosed herein includes acquiring tracking information of a passenger's head within a vehicle cabin, selecting a noise canceling filter corresponding to the tracking information from among noise canceling filters generated based on the head position information, and outputting a noise canceling signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle and the selected noise canceling filter from a speaker provided within the vehicle cabin.

[0009] The program disclosed herein is a program for causing a computer to execute processing including acquiring tracking information of a passenger's head within the vehicle cabin, selecting a noise canceling filter corresponding to the tracking information from among noise canceling filters generated based on the head position information, and outputting a noise canceling signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle and the selected noise canceling filter from a speaker provided within the vehicle cabin.

[0010] In the present disclosure, tracking information of the head of a passenger in the vehicle cabin is acquired, and a noise canceling filter corresponding to the tracking information is selected from among noise canceling filters generated based on the head position information, and a noise canceling signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle and the selected noise canceling filter is output from a speaker provided in the vehicle cabin.

[0011] FIG. 1 is a diagram illustrating an example of the configuration of a general in-vehicle noise canceling system. FIG. 2 is a diagram illustrating the change in ear position and the effect of noise canceling. FIG. 3 is a diagram illustrating noise canceling using an adaptive filter. FIG. 4 is a diagram illustrating an example of the hardware configuration of a noise canceling system. FIG. 5 is a diagram illustrating an example of the functional configuration of a noise canceling system. FIG. 6 is a flowchart illustrating the flow of noise canceling operation. FIG. 7 is a diagram illustrating an example of a mesh used to generate a filter. FIG. 8 is a diagram illustrating calculation of the head angle. FIG. 9 is a diagram illustrating an example of angles for measurement. FIG. 10 is a diagram illustrating interpolation of the head angle. FIG. 11 is a block diagram illustrating an example of the hardware configuration of a computer.

[0012] Modes for carrying out the present disclosure (hereinafter referred to as embodiments) will be described below in the following order.

[0013] 1. General in-vehicle noise canceling system and its problems 2. Noise canceling using an adaptive filter 3. Overview of the technology disclosed herein 4. Configuration and operation of the noise canceling system disclosed herein 5. Specific example 6. Example of computer hardware configuration

[0014] 1. General In-Vehicle Noise Cancelling System and Its Problems FIG. 1 is a diagram showing an example of the configuration of a general in-vehicle noise cancelling system.

[0015] 1 captures road noise from the tires using multiple acceleration sensors 10 mounted on the undercarriage of the vehicle. The in-vehicle noise canceling system 1 generates a noise cancellation signal that cancels the noise in real time based on the sensor values ​​obtained from the acceleration sensors 10 and a noise canceling filter 20, such as an FIR filter, prepared in advance. The in-vehicle noise canceling system 1 then outputs the generated noise cancellation signal from each of speakers 30L and 30R.

[0016] The speakers 30L, 30R may be configured as door speakers provided in the doors inside the vehicle, or as seat speakers provided on both shoulders of the seat. The speakers 30L and 30R output noise cancellation signals that simultaneously control both the left ear position (control point CP_L) and the right ear position (control point CP_R) of the occupant's head H as cancellation points. With this configuration, the in-vehicle noise canceling system 1 can reduce noise reaching the occupant's ear positions.

[0017] In the in-vehicle noise canceling system 1, pinpoint noise cancellation is performed at the left and right ear positions using the speakers 30L, 30R. However, if the occupant leans forward, the position of the head H moves forward or backward, changing the ear position relative to the speakers 30L, 30R. Also, as shown in Figure 2, even if the position of the head H remains the same, the ear position EP relative to the speakers 30L, 30R will change if the occupant shakes their head left or right.

[0018] In this way, when the position of the ears relative to the speakers 30L and 30R changes, the path (transfer function) from each of the speakers 30L and 30R to the ears changes, and it becomes impossible to obtain a good noise canceling effect.

[0019] In response to this problem, a method has been proposed that uses an adaptive filter based on the change in transfer characteristics associated with the user's displacement.

[0020] 2. Noise Cancelling Using an Adaptive Filter Noise cancelling using an adaptive filter will be described with reference to FIG.

[0021] An active noise control system using the Filtered-X LMS algorithm is shown in Fig. 3. The system in Fig. 3 includes a speaker 51 that outputs pseudo-noise to cancel noise, an error sensor 52 that monitors the noise reduction effect, and a reference sensor 53 that detects a reference signal.

[0022] 3 , the filter coefficients of the noise canceling filter are successively updated using error sensor 52 in response to changes in the transfer function (primary path) from the noise to ear position EP and the transfer function (secondary path) from speaker 51 to ear position EP so that the noise at ear position EP becomes zero. That is, a signal detected by reference sensor 53 located upstream of the noise is processed by control filter 71 to become pseudo-noise that is output from speaker 51. Then, at the position of error sensor 52, coefficient updater 72 adjusts the filter coefficients of control filter 71 so that the error signal e(n) from error sensor 52 is minimized so that the noise and pseudo-noise cancel each other out.

[0023] Here, a noise canceling operation when tracking of the ear position EP is used in the system of FIG. 3 will be described.

[0024] First, the ear position EP is detected by tracking. Next, the secondary path is identified based on the ear position EP, and a secondary path model change unit 73 changes the secondary path model. Using the changed secondary path model and the error signal e(n) from the error sensor 52, a coefficient update unit 72 adaptively determines the filter coefficients of the control filter 71 so as to reduce the error signal e(n).

[0025] In the above-described operation, multiple steps are taken from when the ear position EP changes until the filter coefficients are updated, so it takes a considerable amount of time before the noise canceling effect is achieved. Also, the system in Figure 3 aims for slow convergence of the filter coefficients, and is unable to respond to sudden changes, so there is a risk that the filter coefficients will not converge but will diverge.

[0026] 3. Overview of the Technology Relating to the Present Disclosure The technology relating to the present disclosure acquires the ear positions of passengers in real time as tracking information from a camera installed inside the vehicle cabin, and selects a noise canceling filter suitable for the acquired ear position from among noise canceling filters prepared in advance for each ear position.

[0027] (Acquisition of Tracking Information) In recent years, cameras have been increasingly installed inside vehicle cabins to improve safety and to understand and recognize the behavior of passengers. Among these cameras, in addition to general RGB cameras, there are also ToF (Time of Flight) sensors and stereo cameras that can grasp objects in three dimensions. By using these cameras, it becomes possible to recognize the position and posture of the ears and head of passengers inside the vehicle cabin in three dimensions as tracking information.

[0028] For example, by installing a stereo camera on the dashboard, it is possible to recognize the ear position of a passenger seated in a seat even if the passenger's head moves. The camera is not limited to being installed on the dashboard, and may be installed, for example, near the ceiling inside the vehicle cabin, as long as it can recognize the ear position of the passenger.

[0029] In addition to directly recognizing the ear positions from the camera data of the stereo camera, the relative positions of the eyes and ears may be measured in advance, and the relative positions of the left and right ears may be obtained by obtaining the positions of both eyes from the camera data. This makes it possible to obtain the ear positions even when the passenger's ears are covered with hair, for example.

[0030] The forehead position can also be obtained from the position of both eyes. The forehead position can be used to recognize the head position. Furthermore, the face itself can be recognized from camera data, and the ear position can be obtained by obtaining the direction (angle) of the face.

[0031] 4. Configuration and Operation of Noise Cancelling System of the Present Disclosure> (Hardware Configuration Example) FIG. 4 is a diagram showing a hardware configuration example of a noise cancelling system to which the technology according to the present disclosure is applied.

[0032] Noise canceling system 100 shown in Fig. 4 is configured to include an acceleration sensor 110, an A / D conversion device 120, a DSP (Digital Signal Processor) 130, an audio amplifier 140, a sensing unit 150, and an IVI (In-vehicle Infotainment) system 160. The devices constituting noise canceling system 100 may be mounted on a vehicle. For example, A / D conversion device 120, DSP 130, and audio amplifier 140 are mounted in an in-vehicle audio device, and IVI system 160 is mounted as an in-vehicle system separate from the in-vehicle audio device. Noise canceling system 100 also includes speakers 30L and 30R, as described with reference to Fig. 1.

[0033] A plurality of acceleration sensors 110 are mounted on the underside of the vehicle (under the body) and pick up vibrations, which are road noise. The sensor values ​​obtained from the acceleration sensors 110 are supplied to an A / D converter 120.

[0034] The A / D converter 120 converts the analog signal of the sensor value from the acceleration sensor 110 into digital data and supplies it to the DSP 130 .

[0035] The DSP 130 generates a noise cancellation signal based on the digital data (sensor value) from the A / D conversion device 120 and a noise cancellation filter prepared in advance, and supplies the noise cancellation signal to the audio amplifier 140 .

[0036] The audio amplifier 140 amplifies the noise cancellation signal from the DSP 130 and outputs it from the speakers 30L and 30R.

[0037] As explained with reference to FIG. 1, the speaker 30L and the speaker 30R output noise cancellation signals that simultaneously control both the left ear position (control point CP_L) and the right ear position (control point CP_R) of the occupant's head H.

[0038] The sensing unit 150 senses the occupant in the vehicle cabin, acquires sensing data of the occupant, and supplies the data to the IVI system 160. The sensing unit 150 may be configured with at least one of an RGB camera, a ToF sensor, and a stereo camera provided in the vehicle cabin, and the camera data output by these is supplied to the IVI system 160 as sensing data of the occupant.

[0039] The IVI system 160 is a system that provides both information and entertainment elements in a vehicle. The IVI system 160 tracks the head of the occupant based on face information obtained from sensing data from the sensing unit 150, thereby acquiring tracking information of the occupant's head in real time and supplying it to the DSP 130.

[0040] In the DSP 130, an optimal noise canceling filter is selected from among pre-generated noise canceling filters based on tracking information from the IVI system 160, and a noise cancellation signal is generated.

[0041] (Example of Functional Configuration) FIG. 5 is a diagram showing an example of the functional configuration of the noise canceling system 100. As shown in FIG.

[0042] In the noise canceling system 100 shown in FIG. 5, a tracking processing unit 210, a filter selection unit 220, and a noise canceling unit 230 are realized as functional blocks.

[0043] The tracking processing unit 210 is realized by the IVI system 160. The tracking processing unit 210 functions as a tracking information acquisition unit that acquires tracking information of the head H of an occupant in the vehicle cabin. Specifically, the tracking processing unit 210 acquires the tracking information based on face information obtained from sensing data of the occupant in the vehicle cabin from the sensing unit 150.

[0044] The tracking information may include the ear position of the passenger. The face information may be at least one of the positions of the eyes, the forehead position, and the face direction, and the ear position of the passenger is acquired from this face information. Of course, the face information may be the ear position itself. The ear position of the passenger acquired in real time as tracking information is supplied to the filter selection unit 220.

[0045] The filter selection unit 220 may be realized by either the DSP 130 or the IVI system 160. The filter selection unit 220 selects a noise canceling filter (filter coefficient) corresponding to the tracking information from the tracking processing unit 210, i.e., the ear position, from among noise canceling filters (filter coefficients) generated based on the position information of the occupant's head H. The head position information represents at least the position and posture of the head. The noise canceling filter is a fixed filter whose control points are the ear positions for each position and posture of the occupant's head H. A filter ID representing the selected noise canceling filter (filter coefficient) is supplied to the noise canceling unit 230.

[0046] Here, the position of the occupant's head H is defined as a position on a horizontal plane at the height of the occupant's ears when seated in a seat inside the vehicle. In the description below, the posture of the occupant's head H is defined as the angle (yaw angle) of the head H around the axis in the up-down direction, but it can also include the angle (roll angle) of the head H around the axis in the front-to-back direction and the angle (pitch angle) around the axis in the left-to-right direction.

[0047] Noise canceling unit 230 is implemented by DSP 130. Noise canceling unit 230 generates a noise cancellation signal based on the sensor value from acceleration sensor 110 and the noise canceling filter represented by the filter ID from filter selection unit 220, and outputs the signal from speakers 30L and 30R. Specifically, noise canceling unit 230 generates the noise cancellation signal by performing calculations using the sensor value from acceleration sensor 110 as input, using the filter coefficient represented by the filter ID.

[0048] (Noise Cancelling Operation) The flow of the noise cancelling operation by the noise cancelling system 100 of FIG. 5 will be described with reference to the flowchart of FIG.

[0049] In step S101 , the tracking processing unit 210 acquires tracking information (for example, ear positions) based on face information obtained from sensing data from the sensing unit 150 .

[0050] In step S102, the filter selection unit 220 selects a noise canceling filter corresponding to the tracking information acquired by the tracking processing unit 210 from among noise canceling filters generated in advance for each position and posture of the occupant's head.

[0051] In step S103 , the noise canceling unit 230 acquires a sensor value from the acceleration sensor 110 .

[0052] In step S104 , the noise canceling unit 230 generates a noise cancellation signal based on the sensor value acquired from the acceleration sensor 110 and the noise canceling filter selected by the filter selection unit 220 .

[0053] Then, in step S105, the noise canceling unit 230 outputs a noise cancellation signal from the speakers 30L and 30R.

[0054] According to the above process, the ear position of the passenger in the vehicle is acquired as tracking information, and a noise canceling filter suitable for the acquired ear position is selected from among noise canceling filters prepared in advance for each head position and orientation. This makes it possible to obtain a good noise canceling effect even if the ear position relative to the speaker changes, thereby realizing more suitable noise canceling.

[0055] Furthermore, with the technology disclosed herein, noise canceling filters corresponding to each ear position are prepared in advance and then switched between, so it takes almost no time for the noise canceling effect to be obtained after the ear position changes, and it is possible to maintain stability without the filter coefficients diverging even in the event of sudden changes.

[0056] 5. Specific Examples In the following, specific examples of generating filters corresponding to the respective ear positions and performing noise canceling operations will be described.

[0057] (Filter Generation) First, as shown in Fig. 7 , a horizontal plane at the height of the ears of a passenger seated in a vehicle cabin is divided into meshes at equal intervals. Measurements (measurements of the primary path, secondary path, etc.) are performed at the center of each divided mesh MS to generate a noise canceling filter (filter coefficients). In the example of Fig. 7 , measurements are performed on 25 meshes MS divided into five in the front-to-back and left-to-right directions of the passenger's head H on the horizontal plane. That is, measurements are performed on 25 positions of the head H. In this case, the position of the head H may be calculated from the position of the forehead Fh obtained from camera data such as a stereo camera installed on the dashboard.

[0058] The size (fineness) of each mesh MS may be determined depending on the frequency band in which a noise canceling effect is desired, and the higher the upper limit of the frequency band, the finer the mesh MS needs to be. In the case of road noise canceling, the target is 1 kHz or less, so each side of the mesh MS is set to about several centimeters. The range in which the mesh division is performed is the range of movement of the occupant in the vehicle cabin. Assuming that the occupant's head H moves while fastening a seat belt in the seat, the range of movement of the occupant (head H) is an area of ​​several tens of centimeters square.

[0059] When measurements are made in each mesh MS, measurements are made for each angle swing of the head H at the center of the mesh MS as shown in Fig. 8. The angle swing of the head H may be calculated from the positions of both eyes obtained from sensing data of the occupant in the vehicle cabin, for example, camera data from a stereo camera or the like. Specifically, the coordinate axis in the left-right direction of the head H is the X axis, the coordinate axis in the front-rear direction is the Z axis, and the coordinate of the left eye is (X Ｌ , Z Ｌ ), the coordinates of the right eye are (X Ｒ , Z Ｒ ), the angle Swing of the head H can be calculated by the following equation (1).

[0060]

[0061] In this way, by performing measurements for each head angle in each mesh that divides the horizontal plane based on the seats in the vehicle cabin, it is possible to generate fixed filters for each head position and posture.

[0062] Note that, because the angle Swing of the head H actually changes smoothly, it is sufficient to perform measurements in three states, for example, at angles of 40 degrees, 0 degrees, and −40 degrees, as shown in Fig. 9. Noise canceling filters for angles other than these can be generated by interpolating the noise canceling filters (filter coefficients) generated for each of the three states. Specifically, as shown in Fig. 10, if a filter coefficient SP1 for 0 degrees and a filter coefficient SP2 for 40 degrees are generated in advance, the filter coefficient SP for the relative angle ∠s when 40 degrees is defined as an angle ∠1.0 can be calculated using the following equation (2):

[0063]

[0064] In other words, by making the tracking information further include the position and posture of the head, if there is no noise canceling filter corresponding to the tracking information, the filter selection unit 220 can generate an interpolated noise canceling filter based on the posture of the head.

[0065] In addition, for orientations exceeding the maximum angles of 40 degrees and −40 degrees in FIG. 9 (such as 60 degrees and −60 degrees), the noise canceling effect is not significantly affected even if the noise canceling filters (filter coefficients) generated for the respective maximum angles are used.

[0066] In the above, measurements are taken for each head position and posture calculated from the positions of both eyes and the forehead, but ear positions may also be obtained directly and measurements may be taken for each obtained ear position.

[0067] (Measurement at Each Position) When measuring each head position and posture, small microphones (mics) are attached to both ears, and the primary and secondary paths are measured at each position and posture, and a noise canceling filter is generated for each posture based on the measurement results. Alternatively, in an actual vehicle running, a noise canceling filter may be generated by measuring the sensor values ​​from the acceleration sensor and the microphone input at the ear positions, as well as measuring the secondary path. In this case, measurements may be performed using a mannequin resembling a human head, such as a Head and Torso Simulator (HATS).

[0068] (Noise Cancelling Operation) During noise cancelling operation, the noise cancelling filters generated as described above for each head position and posture are implemented inside the DSP, and the mesh position and head angle are acquired as tracking information by tracking the head. The filter coefficients to be used can be sequentially switched to filter coefficients that are adapted to the acquired mesh position and head angle.

[0069] Here, noise canceling using an adaptive filter requires the wearing of a microphone, whereas noise canceling according to the technology of the present disclosure does not require the wearing of the microphone used during measurement.

[0070] 6. Example of Computer Hardware Configuration The above-described series of processes can be executed by hardware or software. When the series of processes is executed by software, the program constituting the software is installed from a program recording medium into a computer incorporated in dedicated hardware, a general-purpose personal computer, or the like.

[0071] 11 is a block diagram showing an example of the hardware configuration of a computer that executes the above-described series of processes using a program. The in-vehicle electronic device that constitutes at least a part of noise canceling system 100 is configured, for example, by a computer 300 having a configuration similar to that shown in FIG.

[0072] A CPU (Central Processing Unit) 301 , a ROM (Read Only Memory) 302 , and a RAM (Random Access Memory) 303 are interconnected by a bus 304 .

[0073] An input / output interface 305 is also connected to the bus 304. An input unit 306 including a keyboard, a mouse, etc., and an output unit 307 including a display, a speaker, etc. are connected to the input / output interface 305. Also connected to the input / output interface 305 are a storage unit 308 including a hard disk, a nonvolatile memory, etc., a communication unit 309 including a network interface, etc., and a drive 310 that drives removable media 311.

[0074] In the computer 300 configured as described above, the CPU 301 performs the above-described series of processes by, for example, loading a program stored in the storage unit 308 into the RAM 303 via the input / output interface 305 and the bus 304 and executing the program.

[0075] The program executed by the CPU 301 is installed in the storage unit 308 by being recorded on, for example, a removable medium 311 or provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting.

[0076] The program executed by computer 300 may be a program that processes in chronological order according to the order described in this specification, or may be a program that processes in parallel or at the required timing, such as when called.

[0077] In this specification, a system refers to a collection of multiple components (devices, modules (components), etc.), regardless of whether all of the components are contained in the same housing. Therefore, multiple devices housed in separate housings and connected via a network, and a single device housed in a single housing with multiple modules, are both systems.

[0078] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0079] The embodiments of the present disclosure are not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present disclosure.

[0080] For example, the embodiment of the present disclosure can be configured as a cloud computing system in which a single function is shared and processed collaboratively by multiple devices via a network.

[0081] Furthermore, each step described in the above flowchart can be executed by one device, or can be shared and executed by a plurality of devices.

[0082] Furthermore, when one step includes multiple processes, the multiple processes included in that one step can be executed by one device or can be shared and executed by multiple devices.

[0083] The technology disclosed herein may have the following configuration. (1) An information processing device including: a tracking information acquisition unit that acquires tracking information of a head of an occupant in a vehicle cabin; a filter selection unit that selects a noise canceling filter corresponding to the tracking information from among noise canceling filters generated based on position information of the head; and a noise canceling unit that outputs a noise canceling signal generated based on a sensor value obtained from an acceleration sensor mounted in the vehicle and the selected noise canceling filter from a speaker provided in the vehicle cabin. (2) The information processing device described in (1), in which the tracking information includes an ear position of the occupant; the position information includes a position and orientation of the head; and the noise canceling filter is a fixed filter that uses the ear position for each position and orientation of the head as a control point. (3) The information processing device described in (2), in which the tracking information acquisition unit acquires the tracking information based on face information obtained from sensing data of the occupant in the vehicle cabin. (4) The information processing device described in (3), in which the face information includes at least one of the positions of both eyes, the position of the forehead, and the direction of the face. (5) The information processing device according to (3) or (4), wherein the sensing data is camera data output by at least one of an RGB camera, a ToF sensor, and a stereo camera provided in the vehicle cabin. (6) The information processing device according to any of (2) to (5), wherein the tracking information further includes a position and orientation of the head, and wherein the filter selection unit generates the noise canceling filter interpolated based on the orientation of the head when there is no noise canceling filter corresponding to the tracking information. (7) The information processing device according to any of (2) to (6), wherein the fixed filter is generated for each angle of the head in each mesh obtained by dividing a horizontal plane based on a seat in the vehicle cabin. (8) The information processing device according to (7), wherein the head angle is calculated based on sensing data of the occupant in the vehicle cabin.(9) The information processing device according to any one of (1) to (8), wherein the speaker is configured as a seat speaker provided in a seat within the vehicle cabin. (10) An information processing method including: acquiring tracking information of a head of an occupant within the vehicle cabin; selecting the noise canceling filter corresponding to the tracking information from among noise canceling filters generated based on the position of the head; and outputting, from a speaker provided within the vehicle cabin, a noise cancellation signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle and the selected noise canceling filter. (11) A program for causing a computer to execute processing including: acquiring tracking information of a head of an occupant within the vehicle cabin; selecting the noise canceling filter corresponding to the tracking information from among noise canceling filters generated based on the position of the head; and outputting, from a speaker provided within the vehicle cabin, a noise cancellation signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle.

[0084] 30L, 30R Speaker, 100 Noise canceling system, 110 Acceleration sensor, 120 A / D conversion device, 130 DSP, 140 Audio amplifier, 150 Sensing unit, 160 IVI system, 210 Tracking processing unit, 220 Filter selection unit, 230 Noise canceling unit

Claims

1. An information processing device comprising: a tracking information acquisition unit that acquires tracking information of a passenger's head within a vehicle cabin; a filter selection unit that selects a noise canceling filter corresponding to the tracking information from among noise canceling filters generated based on the head position information; and a noise canceling unit that outputs a noise canceling signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle and the selected noise canceling filter from a speaker provided within the vehicle cabin.

2. The information processing device of claim 1, wherein the tracking information includes the ear position of the occupant, the position information includes the position and posture of the head, and the noise canceling filter is a fixed filter whose control points are the ear positions for each position and posture of the head.

3. The information processing device according to claim 2, wherein the tracking information acquisition unit acquires the tracking information based on face information obtained from sensing data of the passenger in the vehicle cabin.

4. The information processing device according to claim 3, wherein the face information includes at least one of the positions of the eyes, the position of the forehead, and the direction of the face.

5. The information processing device according to claim 3, wherein the sensing data is camera data output by at least one of an RGB camera, a ToF sensor, and a stereo camera provided in the vehicle interior.

6. The information processing device according to claim 2, wherein the tracking information further includes the position and orientation of the head, and when there is no noise canceling filter corresponding to the tracking information, the filter selection unit generates the noise canceling filter interpolated based on the orientation of the head.

7. The information processing device according to claim 2, wherein the fixed filter is generated for each angle of the head in each mesh obtained by dividing a horizontal plane based on the seats in the vehicle interior.

8. The information processing device according to claim 7, wherein the head angle is calculated based on sensing data of the occupant in the vehicle cabin.

9. The information processing device according to claim 1, wherein the speaker is configured as a seat speaker provided in a seat inside the vehicle.

10. An information processing method comprising: acquiring tracking information of a passenger's head within a vehicle cabin; selecting a noise canceling filter corresponding to the tracking information from among noise canceling filters generated based on the head position information; and outputting a noise canceling signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle and the selected noise canceling filter from a speaker provided within the vehicle cabin.

11. A program for causing a computer to execute a process including: acquiring tracking information of a passenger's head within the vehicle cabin; selecting a noise canceling filter corresponding to the tracking information from among noise canceling filters generated based on the head position information; and outputting a noise canceling signal generated based on a sensor value obtained from an acceleration sensor mounted on the vehicle and the selected noise canceling filter from a speaker provided within the vehicle cabin.

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