CN114464203A - Noise filtering method, device, system, vehicle and storage medium - Google Patents
Noise filtering method, device, system, vehicle and storage medium Download PDFInfo
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Abstract
The disclosure relates to a noise filtering method, a device, a system, a vehicle and a storage medium, relating to the technical field of noise control, wherein the method comprises the following steps: the method comprises the steps of acquiring a first external noise signal outside a vehicle and acquired through an external microphone, acquiring an internal sound signal inside the vehicle and acquired through an internal microphone, acquiring a first internal noise estimation signal of a simulated first external noise signal transmitted into the vehicle according to the first external noise signal and a filter coefficient corresponding to the internal microphone, and filtering the first internal noise estimation signal from the internal sound signal. The noise received by the in-vehicle microphone can be filtered, and the influence of external noise on the in-vehicle microphone is reduced.
Description
Technical Field
The present disclosure relates to the field of noise control technologies, and in particular, to a noise filtering method, apparatus, system vehicle, and storage medium.
Background
With the improvement of living standard of people and the high-speed development of artificial intelligence technology, an automobile becomes an essential vehicle for travel, and the concept of an intelligent cabin is brought forward. The voice interaction gradually becomes one of the necessary functions of the intelligent cockpit with the unique advantages. However, in the driving process, noises such as power system noise, wind noise and tire road noise seriously affect the voice interaction experience of the intelligent vehicle machine, wherein the wind noise lacks an effective filtering means. Therefore, how to improve the interactive experience of the intelligent interactive system in the vehicle in the driving process and reduce the noise received by the microphone in the vehicle becomes a problem to be solved urgently.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a noise filtering method, apparatus, system vehicle, and storage medium.
According to a first aspect of the embodiments of the present disclosure, there is provided a noise filtering method applied to a vehicle including an external microphone disposed outside the vehicle and an internal microphone disposed inside the vehicle, the method including:
acquiring a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone;
acquiring a first internal noise estimation signal transmitted into the vehicle by the simulated first external noise signal according to the first external noise signal and a filter coefficient corresponding to the internal microphone;
filtering the first internal noise estimate signal from the internal sound signal.
Optionally, the method further comprises:
acquiring a second external noise signal outside the vehicle collected by the external microphone and an internal noise signal inside the vehicle collected by the internal microphone in a case where no user voice is detected inside the vehicle;
acquiring a second internal noise estimation signal of the simulated second external noise signal transmitted into the vehicle according to the second external noise signal and the initial filter coefficient corresponding to the internal microphone;
obtaining an error signal according to the internal noise signal and the second internal noise estimation signal;
updating the initial filter coefficient according to the error signal to obtain an updated filter coefficient;
according to the updated filter coefficient, a step of acquiring a second external noise signal outside the vehicle collected by the external microphone and an internal noise signal inside the vehicle collected by the internal microphone to obtain an error signal according to the internal noise signal and the second internal noise estimation signal under the condition that the voice of the user is not detected inside the vehicle is executed again until the error signal meets a preset condition, and a filter coefficient corresponding to the internal microphone is obtained.
Optionally, the obtaining, according to the first external noise signal and a filter coefficient corresponding to the internal microphone, a first internal noise estimation signal that is obtained by introducing the simulated first external noise signal into the vehicle interior includes:
and performing convolution operation on the first external noise signal and a filter coefficient corresponding to an internal microphone to obtain the first internal noise estimation signal.
Optionally, the external microphone is multiple, and the internal microphone is multiple; the performing convolution operation on the first external noise signal and a filter coefficient corresponding to an internal microphone to obtain the first internal noise estimation signal includes:
converting a plurality of first external noise signals collected by the plurality of external microphones at a first moment into a frequency domain to obtain frequency domain signals of the plurality of first external noise signals;
converting the filter coefficient corresponding to the first internal microphone to a frequency domain to obtain a filter frequency domain coefficient corresponding to the first internal microphone;
performing convolution operation on the frequency domain signals of the plurality of first external noise signals and the filter frequency domain coefficient respectively, and obtaining the frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone at the first moment according to each obtained convolution operation result;
the first internal microphone is any one of the plurality of internal microphones, and the plurality of first external noise signals are in one-to-one correspondence with the plurality of external microphones.
Optionally, the performing convolution operations on the frequency domain signals of the plurality of first external noise signals and the filter frequency domain coefficients, and obtaining the frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone at the first time according to each obtained convolution operation result includes:
performing convolution operation on the frequency domain signals of the first external noise signals and the filter frequency domain coefficients respectively to obtain a plurality of convolution operation results corresponding to the frequency domain signals of the first external noise signals;
and acquiring the sum of the convolution operation results as a frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone.
Optionally, the updating the initial filter coefficient according to the error signal to obtain an updated filter coefficient includes:
inputting the error signal into an objective function to obtain an output value of the objective function, wherein the objective function is constructed according to a minimum mean square error criterion;
and under the condition that the output value is larger than a specified value, updating the initial filter coefficient according to the error signal to obtain an updated filter coefficient.
Optionally, the updating the initial filter coefficient according to the error signal, and the obtained updated filter coefficient includes:
acquiring an updated value of a filter coefficient according to the error signal, a preset updating step length and a frequency domain signal of a second external noise signal acquired by the external microphone at a second moment;
and adding the filter frequency domain coefficient corresponding to the internal microphone at the second moment to the updated value to obtain an updated filter frequency domain coefficient, wherein the updated filter frequency domain coefficient is used as the filter frequency domain coefficient corresponding to the internal microphone at the next moment of the second moment.
According to a second aspect of the embodiments of the present disclosure, there is provided a noise filtering apparatus applied to a vehicle including an exterior microphone provided outside the vehicle and an interior microphone provided inside the vehicle, the apparatus comprising:
an acquisition module configured to acquire a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone;
the estimation module is configured to acquire a first internal noise estimation signal of the simulated first external noise signal transmitted into the vehicle according to the first external noise signal and a filter coefficient corresponding to the internal microphone;
a filtering module configured to filter the first internal noise estimate signal from the internal sound signal.
According to a third aspect of embodiments of the present disclosure, there is provided a noise filtering system comprising: at least one exterior microphone for placement outside a vehicle, at least one interior microphone for placement inside the vehicle, and a processing component; the processing component is to:
acquiring a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone;
acquiring a first internal noise estimation signal transmitted into the vehicle by the simulated first external noise signal according to the first external noise signal and a filter coefficient corresponding to the internal microphone;
filtering the first internal noise estimate signal from the internal sound signal.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a vehicle including: at least one exterior microphone disposed outside the vehicle, at least one interior microphone disposed inside the vehicle, and a processing component;
the processing component is configured to:
acquiring a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone;
acquiring a first internal noise estimation signal transmitted into the vehicle by the simulated first external noise signal according to the first external noise signal and a filter coefficient corresponding to the internal microphone;
filtering the first internal noise estimate signal from the internal sound signal.
Optionally, at least one said external microphone is provided in each of a left and a right external rear view mirror of said vehicle.
Optionally, a first microphone array and a second microphone array are provided inside the vehicle, the first microphone array comprising two of the internal microphones and the second microphone array comprising two of the internal microphones;
the first microphone array is disposed in an interior rear view mirror of the vehicle, and the second microphone array is disposed above a rear seat of the vehicle;
or, the first microphone array is arranged in an interior rear view mirror of the vehicle, and two inner microphones in the second microphone array are respectively arranged in a left rear door and a right rear door of the vehicle;
or, two of the interior microphones of the first microphone array are respectively disposed on a left front door and a right front door of the vehicle, and the second microphone array is disposed above a rear seat of the vehicle;
or, two of the first microphone arrays are disposed on a left front door and a right front door of the vehicle, respectively, and two of the second microphone arrays are disposed on a left rear door and a right rear door of the vehicle, respectively.
According to a fifth aspect of the embodiments of the present disclosure, there is provided a noise filtering apparatus applied to a vehicle including the exterior microphone provided outside the vehicle and an interior microphone provided inside the vehicle, the apparatus comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to: the executable instructions are executed to implement the steps of the method of any of the embodiments of the first aspect described above.
According to a sixth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the noise filtering method provided by the first aspect of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
in the technical scheme, a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone are obtained, and according to the first external noise signal and a filter coefficient corresponding to the internal microphone, a first internal noise estimation signal, transmitted into the vehicle by the simulated first external noise signal, is obtained, and the first internal noise estimation signal is filtered from the internal sound signal. Through the technical scheme, the internal noise estimation signal after the external noise is transmitted into the vehicle can be simulated based on the collected external noise signal of the vehicle, and is filtered, so that the noise received by the internal microphone in the vehicle can be filtered, and the influence of the noise on the microphone in the vehicle is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow diagram illustrating a method of noise filtering in accordance with an exemplary embodiment.
FIG. 2 is a flow diagram illustrating another method of noise filtering in accordance with an exemplary embodiment.
FIG. 3 is a flow chart illustrating yet another method of noise filtering in accordance with an exemplary embodiment.
FIG. 4 is a block diagram of a noise filtering device provided in accordance with an exemplary embodiment.
FIG. 5a is a schematic illustration of a microphone distribution on a vehicle provided in accordance with an exemplary embodiment.
FIG. 5b is a schematic illustration of another on-board microphone distribution provided in accordance with an exemplary embodiment.
FIG. 5c is a schematic illustration of a microphone distribution on yet another vehicle provided in accordance with an exemplary embodiment.
FIG. 5d is a schematic illustration of a microphone distribution on yet another vehicle provided in accordance with an exemplary embodiment.
FIG. 6 is a block diagram illustrating a noise filtering device according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In the running process of the vehicle, the noise mainly comprises three types of power system noise, wind noise and tire road noise, the noise is mainly wind noise when the speed of the vehicle is more than 70 kilometers per hour, and a proper solution is provided for other two types of noise of the power system noise and the tire road noise, such as Active Noise Cancellation (ANC). However, wind noise belongs to high-frequency noise, and an active noise reduction technology for solving low-frequency noise such as power system noise cannot be applied to solving the high-frequency noise. Therefore, in order to solve the above problems, the present disclosure provides a noise filtering method. It should be noted that the noise filtering method provided by the present disclosure can be used for solving the problem of wind noise, and is also applicable to filtering the wind noise and the tire road noise. The following illustrates a noise filtering method provided by the present disclosure.
Fig. 1 is a flow chart illustrating a noise filtering method according to an exemplary embodiment, applied to a vehicle including an external microphone disposed outside the vehicle and an internal microphone disposed inside the vehicle, as shown in fig. 1, the method including the following steps.
In step S101, a first external noise signal outside the vehicle collected by an external microphone and an internal sound signal inside the vehicle collected by an internal microphone are acquired.
It is understood that the first external noise signal collected by the external microphone may be the wind noise signal described above. The acquisition of the first external noise signal acquired by the external microphone outside the vehicle and the acquisition of the internal sound signal acquired by the internal microphone inside the vehicle may be performed simultaneously, i.e. it may be understood that in one acquisition process, the first external noise signal acquired by the external microphone and the internal sound signal acquired by the internal microphone inside the vehicle are acquired at the same time.
In step S102, a first internal noise estimation signal of the simulated first external noise signal transmitted into the vehicle is obtained according to the first external noise signal and the filter coefficient corresponding to the internal microphone.
It can be understood that, in order to filter noise from the internal sound signal collected by the internal microphone inside the vehicle, it is necessary to estimate the noise after the external noise is introduced into the vehicle, and therefore the first internal noise estimation signal obtained by simulation can be understood as an estimation of the noise signal received by the internal microphone after the first external noise signal is introduced into the vehicle. The internal sound signal is the sound signal actually received by the internal microphone and the first internal noise estimation signal is the estimated signal received by the internal microphone.
The filter coefficient can affect the accuracy of the first internal noise estimation signal obtained by simulation, which refers to the difference between the first internal noise estimation signal and the noise actually transmitted into the vehicle. The filter coefficient may be preset, and the obtaining method of the filter coefficient may be determined based on a priori knowledge, or may be obtained by learning through a deep learning algorithm.
In step S103, the first internal noise estimation signal is filtered out from the internal sound signal.
Through the technical scheme, the internal noise estimation signal after the external noise is transmitted into the vehicle can be simulated based on the collected external noise signal of the vehicle, and is filtered, so that the noise received by the internal microphone in the vehicle can be filtered, and the influence of the noise on the microphone in the vehicle is reduced.
Alternatively, step S102 may include: and performing convolution operation on the first external noise signal and the filter coefficient corresponding to the internal microphone to obtain a first internal noise estimation signal. In this case, for any one of the internal microphones, the corresponding method for acquiring the internal noise estimation signal may be: the external noise signal acquired by each external microphone is convolved with the filter coefficient corresponding to the internal microphone, and an internal noise estimation signal is obtained according to the result of each convolution (the result of each convolution can be added).
This process can be expressed as the following equation:
wherein, yk(n) a first internal noise estimation signal, x, of an internal microphone k in the vehicle interior at time ni(n) represents a first external noise signal, w, collected by a microphone i external to the vehicle at time nk,i(n)TDenotes the filter coefficient corresponding to the inner microphone k and I denotes the total number of microphones outside the vehicle.
In order to update the filter coefficients, the noise signal needs to be converted into the frequency domain, which may be implemented by, for example, STFT (Short-Time Fourier Transform). The formula is subjected to STFT to obtain the following formula which is used as a calculation formula of a frequency domain signal of the internal noise estimation signal:
wherein, Yk(ω, n) represents the frequency domain signal of the first internal noise estimation signal at time n of the internal microphone k inside the vehicle, Xi(ω, n) represents the frequency domain signal of the first external noise signal collected by the microphone i outside the vehicle at time n, Wk,i(ω,n)TDenotes the filter frequency domain coefficients corresponding to the inner microphone k and I denotes the total number of microphones outside the vehicle.
Alternatively, fig. 2 is a flowchart illustrating another noise filtering method according to an exemplary embodiment, and referring to fig. 2, in an implementation, in the case that there are a plurality of external microphones and a plurality of internal microphones, step S102 may include the following steps:
in step S1021, a plurality of first external noise signals collected by a plurality of external microphones at a first time are converted into a frequency domain, so as to obtain frequency domain signals of the plurality of first external noise signals.
In step S1022, the filter coefficient corresponding to the first internal microphone is converted to the frequency domain, so as to obtain the filter frequency domain coefficient corresponding to the first internal microphone.
In step S1023, the frequency domain signals of the plurality of first external noise signals are respectively convolved with the filter frequency domain coefficients, and the frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone at the first time is obtained from the obtained convolution results.
The frequency domain signals of the first external noise signals may be respectively convolved with the filter frequency domain coefficients to obtain a plurality of convolution results corresponding to the frequency domain signals of the first external noise signals, and then a sum of the convolution results is obtained as the frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone.
In step 1023, the calculation can be performed by using the above calculation formula of the frequency domain signal of the internal noise estimation signal, which is not described again.
It can be understood that, the external microphones collect a plurality of external noise signals at a first time, and the internal microphones also collect a plurality of internal sound signals at the first time, where the first internal microphone is any one of the internal microphones, the external noise signals and the internal sound signals are in one-to-one correspondence, and the internal sound signals and the internal microphones are in one-to-one correspondence. Accordingly, the frequency domain signal of the first internal noise estimation signal obtained in step 1023 is understood as the frequency domain signal of the first internal noise estimation signal of the first internal microphone at the first time instant. Therefore, when step S103 is executed, the noise in the internal sound signal can be filtered by subtracting the first internal noise estimation signal at the same time from the internal sound signal at the first time, and when the next time is reached, the above steps S101 to S103 are executed again. The first time may be any time when the external microphone and the internal microphone collect the sound signal.
Before steps S101 to S103, it is necessary to determine a filter coefficient corresponding to the internal microphone, and a method for determining the filter coefficient is described below, fig. 3 is a flowchart illustrating another noise filtering method according to an exemplary embodiment, and referring to fig. 3, in an embodiment, the noise filtering method may further include the following steps:
in step S104, in a case where the user voice is not detected inside the vehicle, a second external noise signal outside the vehicle collected by the external microphone and an internal noise signal inside the vehicle collected by the internal microphone are acquired.
It is understood that in order to be able to accurately estimate the internal noise signal of the vehicle interior collected by the internal microphone, accurate filter coefficients need to be set. Therefore, in order to reduce the interference of other sounds in the vehicle to the filter coefficient determination process, the method described in steps S104-S108 is executed when the user voice is not detected in the vehicle, and is stopped when the user voice is detected in the vehicle until the user voice is not detected again. Since the sound signal of the vehicle interior is acquired without detecting the user voice, the sound signal of the vehicle interior in this case does not contain other sound signals except the internal noise signal.
In step S105, a second internal noise estimation signal, in which the simulated second external noise signal is transmitted into the vehicle interior, is obtained according to the second external noise signal and the initial filter coefficient corresponding to the internal microphone.
The method for calculating the second internal noise estimation signal in step S105 is the same as that in steps S1021 to S1023, that is, the frequency domain signal of the second external noise signal needs to be obtained, the initial filter coefficient needs to be converted into the initial filter frequency domain coefficient, and the frequency domain signal of the second internal noise estimation signal is calculated by using the calculation formula of the frequency domain signal of the internal noise estimation signal.
It is to be understood that steps S104-S108 may be performed once, referred to as a filter coefficient update pass, and that in the first filter coefficient update pass, an initial filter coefficient may be set based on empirical values.
In step S106, an error signal is obtained from the internal noise signal and the second internal noise estimation signal.
The internal noise signal is a noise signal actually received by the internal microphone, the second internal noise estimation signal is an estimated signal received by the internal microphone, and a difference between the internal noise signal and the second internal noise estimation signal can be used as the error signal.
As can be seen from step S105, a frequency domain signal of the second internal noise estimation signal is obtained, and therefore, the internal noise signal of the vehicle interior collected by the internal microphone also needs to be converted into a frequency domain signal, so as to calculate a difference between the frequency domain signal of the internal noise signal and the frequency domain signal of the second internal noise estimation signal as the error signal, where the above process can be expressed as:
wherein, Errk(ω, n) represents an error signal corresponding to a k-th interior microphone in the vehicle interior, Yk(ω, n) represents a frequency domain signal of an internal noise signal actually received by the k-th internal microphone,
a frequency domain signal representing a second internal noise estimate signal corresponding to the kth internal microphone.
In step S107, the initial filter coefficient is updated based on the error signal, and the updated filter coefficient is obtained.
If the error signal does not satisfy the preset condition, the updated filter coefficient obtained in step S107 is executed. The preset condition may be a condition for evaluating the error signal, which is capable of characterizing whether the error between the internal noise signal and the second internal noise estimate signal has fulfilled an accuracy requirement.
In step S108, the steps S104 to S106 are executed again according to the updated filter coefficient until the error signal satisfies the preset condition, so as to obtain the filter coefficient corresponding to the internal microphone.
It can be understood that the method shown in fig. 3 is a method for updating the filter coefficient by using an error signal, when the user is not detected in the vehicle, the filter coefficient is updated, and after steps S104 to S106 are performed each time, whether to update the filter coefficient is determined according to the obtained error signal until the filter coefficient meets a preset condition, so as to ensure that the estimated internal noise signal is close to the noise signal actually received by the internal microphone.
Alternatively, step S107 may include:
and inputting the error signal into an objective function to obtain an output value of the objective function, wherein the objective function is constructed according to a minimum mean square error criterion.
And updating the initial filter coefficient according to the error signal to obtain an updated filter coefficient when the output value is greater than the specified value.
For example, the objective function can be constructed according to the least mean square error (LMS) criterion as follows:
J(ω,n)＝E[Err2(ω,n)]
wherein E [ ] represents the expectation. The LMS is a widely applied adaptive filtering algorithm, and may be updated along the projection direction of the steep drop of the mean square error at each moment on the weight vector surface according to the minimum mean square error criterion and the mean square error curved surface, that is, iteratively updated repeatedly by the inverse gradient vector of the objective function. Because the mean square error performance surface has only one unique minimum value, the convergence step length can be converged to a small point of the error surface or in a neighborhood of the error surface when the convergence step length is properly selected. For example, the minimum value of the above objective function may be solved by derivation, and the minimum value may be used as a threshold value of J (ω, n), that is, the above specified value. When the output value of J (ω, n) is less than or equal to the specified value, it means that the current error signal can indicate that the difference between the internal noise signal actually received by the internal microphone k and the estimated internal noise signal is satisfactory, and the current filter coefficient can be used as the filter coefficient corresponding to the internal microphone k for executing the above steps S101 to S103. When the output value of J (ω, n) is larger than the specified value, it means that the difference between the internal noise signal actually received by the internal microphone k and the estimated internal noise signal is still large, and the filter coefficient should be continuously updated.
Optionally, the updating the initial filter coefficient according to the error signal, and the obtained updated filter coefficient may include:
acquiring an updated value of the filter coefficient according to the error signal, a preset updating step length and a frequency domain signal of a second external noise signal acquired by an external microphone at a second moment;
and adding the filter frequency domain coefficient corresponding to the internal microphone at the second moment to the updated value to obtain an updated filter frequency domain coefficient, wherein the updated filter frequency domain coefficient is used as the filter frequency domain coefficient corresponding to the internal microphone at the next moment of the second moment. The second time may be any time when the external microphone and the internal microphone collect the sound signal before the filter coefficient of the internal microphone is updated.
The above process can be expressed as the following formula for updating the filter coefficients:
Wk,i(ω,n+1)＝Wk,i(ω,n)+2μErr(ω,n)Xi(ω,n)
wherein, Wk,i(ω, n +1) represents the filter frequency domain coefficient of the interior microphone k at time n +1, W, of the vehicle interiork,i(ω, n) represents the filter frequency domain coefficient of the internal microphone k at time n, μ represents the update step, Err (ω, n) represents the error signal, and X (ω, n) represents the frequency domain signal of the second external noise signal collected by the microphone i outside the vehicle at time n.
It is worth mentioning that the filter coefficients corresponding to the plurality of internal microphones in the vehicle may be different, and the respective internal microphones may perform the filter coefficient updating processes described in the above steps S104 to S108 in parallel.
Through the technical scheme, the internal noise estimation signal after the external noise is transmitted into the vehicle can be simulated based on the collected external noise signal of the vehicle, and is filtered, so that the noise received by the internal microphone in the vehicle can be filtered, and the influence of the noise on the microphone in the vehicle is reduced.
Fig. 4 is a block diagram of a noise filtering apparatus provided according to an exemplary embodiment, the apparatus being applied to a vehicle including an external microphone provided outside the vehicle and an internal microphone provided inside the vehicle, the apparatus 400 may include:
an acquisition module 401 configured to acquire a first external noise signal outside the vehicle acquired by the external microphone and an internal sound signal inside the vehicle acquired by the internal microphone;
an estimation module 402, configured to obtain a first internal noise estimation signal, which simulates the first external noise signal and is transmitted into the vehicle, according to the first external noise signal and the filter coefficient corresponding to the internal microphone;
a filtering module 403 configured to filter the first internal noise estimation signal from the internal sound signal.
Optionally, the apparatus 400 may further include: the device comprises an error determining module and an updating module;
an obtaining module 401, further configured to obtain a second external noise signal outside the vehicle collected by the external microphone and an internal noise signal inside the vehicle collected by the internal microphone in a case where no user voice is detected inside the vehicle;
an estimation module 402, further configured to obtain a second internal noise estimation signal simulating the second external noise signal transmitted into the vehicle interior according to the second external noise signal and the initial filter coefficient corresponding to the internal microphone;
an error determination module configured to derive an error signal from the internal noise signal and the second internal noise estimate signal;
an update module configured to update the initial filter coefficients according to the error signal, resulting in updated filter coefficients;
according to the updated filter coefficient, the step of acquiring a second external noise signal outside the vehicle collected by the external microphone and an internal noise signal inside the vehicle collected by the internal microphone to obtain an error signal according to the internal noise signal and the second internal noise estimation signal is executed again under the condition that the voice of the user is not detected inside the vehicle until the error signal meets a preset condition, and a filter coefficient corresponding to the internal microphone is obtained.
Optionally, the estimating module 402 is configured to: and performing convolution operation on the first external noise signal and the filter coefficient corresponding to the internal microphone to obtain the first internal noise estimation signal.
Optionally, the number of the external microphones is multiple, and the number of the internal microphones is multiple; an estimation module 402, further configured to:
converting a plurality of first external noise signals collected by the plurality of external microphones at a first moment into a frequency domain to obtain a plurality of frequency domain signals of the first external noise signals;
converting the filter coefficient corresponding to the first internal microphone to a frequency domain to obtain a filter frequency domain coefficient corresponding to the first internal microphone;
performing convolution operation on the frequency domain signals of the plurality of first external noise signals and the filter frequency domain coefficient respectively, and obtaining the frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone at the first moment according to each obtained convolution operation result;
the first internal microphone is any one of a plurality of internal microphones, and a plurality of first external noise signals are in one-to-one correspondence with the plurality of external microphones.
Optionally, the estimating module 402 is further configured to:
performing convolution operation on the frequency domain signals of the first external noise signals and the frequency domain coefficient of the filter respectively to obtain a plurality of convolution operation results corresponding to the frequency domain signals of the first external noise signals;
and acquiring the sum of the convolution operation results as a frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone.
Optionally, the estimating module 402 is further configured to:
obtaining the first internal noise estimation signal corresponding to the first internal microphone through a noise estimation formula, wherein the noise estimation formula comprises:
wherein, Yk(ω, n) represents a first time n of the interior microphone k inside the vehicleFrequency domain signal of internal noise estimation signal, Xi(ω, n) represents the frequency domain signal of the first external noise signal collected by the microphone i outside the vehicle at time n, Wk,i(ω,n)TDenotes the filter frequency domain coefficients corresponding to the inner microphone k and I denotes the total number of microphones outside the vehicle.
Optionally, the error determination module is configured to: the difference between the frequency domain signal of the internal noise signal and the frequency domain signal of the second internal noise estimation signal is obtained as the error signal.
Optionally, the update module is configured to:
inputting the error signal into an objective function to obtain an output value of the objective function, wherein the objective function is constructed according to a minimum mean square error criterion;
and updating the initial filter coefficient according to the error signal to obtain an updated filter coefficient when the output value is greater than a predetermined value.
The update module is further configured to:
acquiring an updated value of a filter coefficient according to the error signal, a preset updating step length and a frequency domain signal of a second external noise signal acquired by the external microphone at a second moment;
and adding the filter frequency domain coefficient corresponding to the internal microphone at the second moment with the updated value to obtain an updated filter frequency domain coefficient, wherein the updated filter frequency domain coefficient is used as the filter frequency domain coefficient corresponding to the internal microphone at the next moment of the second moment.
Optionally, the formula for updating the filter coefficients comprises:
Wk,i(ω,n+1)＝Wk,i(,n)+2μErr(ω,n)Xi(ω,n)
wherein, Wk,i(ω, n +1) represents the filter frequency domain coefficient of the interior microphone k at time n +1 in the vehicle interior, Wk,i(ω, n) represents the filter frequency domain coefficient of the internal microphone k at time n, μ represents the update step, Err (ω, n) represents the error signal, and X (ω, n) represents the second external noise collected by the microphone i outside the vehicle at time nFrequency domain signal of the signal.
The disclosed embodiment also provides a mechanism schematic diagram of a vehicle, including: at least one exterior microphone disposed outside the vehicle, at least one interior microphone disposed inside the vehicle, and a processing component;
the processing component is configured to:
acquiring a first external noise signal outside the vehicle collected by an external microphone and an internal sound signal inside the vehicle collected by an internal microphone;
acquiring a first internal noise estimation signal transmitted into the vehicle by a simulated first external noise signal according to the first external noise signal and a filter coefficient corresponding to an internal microphone;
the first internal noise estimate signal is filtered from the internal sound signal.
Optionally, at least one external microphone is provided in each of the left and right exterior rear view mirrors of the vehicle.
Optionally, a first microphone array and a second microphone array are provided inside the vehicle, the first microphone array comprising two internal microphones and the second microphone array comprising two internal microphones.
Fig. 5a is a schematic diagram of a microphone distribution on a vehicle according to an exemplary embodiment, where as shown in fig. 5a, a first microphone array comprises two inner microphones 501 arranged in an interior rear view mirror 503 of a vehicle 500, with the microphone openings facing the rear of the vehicle 500; the second microphone array includes two inner microphones 501 arranged above the rear seat of the vehicle 500 with the microphone openings facing downward, i.e., in the direction of the rear seat.
Fig. 5b is a schematic diagram of a microphone distribution on another vehicle provided in accordance with an exemplary embodiment, as shown in fig. 5b, the first microphone array comprises two interior microphones 501 disposed in an interior rear view mirror 503 of the vehicle, with the microphones opening toward the rear of the vehicle 500; two inner microphones 501 of the second microphone array are respectively disposed at a left rear door 506 and a right rear door 507 of the vehicle, the microphones being open toward the inside of the vehicle 500.
Fig. 5c is a schematic diagram of a microphone distribution on a further vehicle according to an exemplary embodiment, as shown in fig. 5c, two inner microphones 501 of the first microphone array are respectively disposed on a left front door 508 and a right front door 509 of the vehicle, the microphones opening towards the interior of the vehicle 500; the second microphone array includes two inner microphones 501 disposed above the rear seat of the vehicle with the microphone openings facing downward.
Fig. 5d is a schematic diagram of a microphone distribution on a further vehicle according to an exemplary embodiment, as shown in fig. 5d, two inner microphones 501 of the first microphone array are respectively disposed on a left front door 508 and a right front door 509 of the vehicle, the microphones opening towards the interior of the vehicle 500; two inner microphones 501 of the second microphone array are respectively provided at a left rear door 506 and a right rear door 507 of the vehicle, the microphones being open toward the inside of the vehicle 500.
In the above-described fig. 5a to 5d, two external microphones 502 are provided in each of the left and right external rear view mirrors 504 and 505 of the vehicle. The external microphone 502 is located inside the left exterior mirror 504, i.e. in the space between the housing and the lens of the left exterior mirror 504, as for the right exterior mirror 505 (the external microphone in the right exterior mirror 505 is not shown in the figure).
The external microphones in the left external rear-view mirror 504 and the right external rear-view mirror 505 can be connected with the vehicle through cables, and data clocks of the microphones can be transmitted through the cables, so that the time synchronization of the external microphones and the internal microphones in the vehicle is guaranteed.
The embodiment of the present disclosure further provides a noise filtering system, including: at least one exterior microphone for being disposed outside the vehicle, at least one interior microphone for being disposed inside the vehicle, and a processing component; the processing component is to:
acquiring a first external noise signal outside the vehicle, which is acquired through an external microphone, and an internal sound signal inside the vehicle, which is acquired through an internal microphone;
acquiring a first internal noise estimation signal transmitted into the vehicle by a simulated first external noise signal according to the first external noise signal and a filter coefficient corresponding to an internal microphone;
the first internal noise estimate signal is filtered from the internal sound signal.
Fig. 6 is a block diagram illustrating a noise filtering device 800 according to an exemplary embodiment. For example, the apparatus 800 may be a central control terminal of a vehicle, a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
Referring to fig. 6, the apparatus 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.
The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the noise filtering method described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The multimedia component 808 includes a screen that provides an output interface between the device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed status of the device 800, the relative positioning of components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration/deceleration of the device 800, and a change in the temperature of the device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the noise filtering methods described above.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 804 comprising instructions, executable by the processor 820 of the apparatus 800 to perform the noise filtering method described above is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the noise filtering method described above when executed by the programmable apparatus.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (14)
1. A noise filtering method applied to a vehicle including an exterior microphone provided outside the vehicle and an interior microphone provided inside the vehicle, the method comprising:
acquiring a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone;
acquiring a first internal noise estimation signal transmitted into the vehicle by the simulated first external noise signal according to the first external noise signal and a filter coefficient corresponding to the internal microphone;
filtering the first internal noise estimate signal from the internal sound signal.
2. The method of claim 1, further comprising:
acquiring a second external noise signal outside the vehicle collected by the external microphone and an internal noise signal inside the vehicle collected by the internal microphone in a case where no user voice is detected inside the vehicle;
acquiring a second internal noise estimation signal of the simulated second external noise signal transmitted into the vehicle according to the second external noise signal and the initial filter coefficient corresponding to the internal microphone;
obtaining an error signal according to the internal noise signal and the second internal noise estimation signal;
updating the initial filter coefficient according to the error signal to obtain an updated filter coefficient;
according to the updated filter coefficient, a step of acquiring a second external noise signal outside the vehicle collected by the external microphone and an internal noise signal inside the vehicle collected by the internal microphone to obtain an error signal according to the internal noise signal and the second internal noise estimation signal under the condition that the voice of the user is not detected inside the vehicle is executed again until the error signal meets a preset condition, and a filter coefficient corresponding to the internal microphone is obtained.
3. The method of claim 1, wherein obtaining a first internal noise estimation signal simulating the introduction of the first external noise signal into the vehicle interior based on the first external noise signal and corresponding filter coefficients of the internal microphone comprises:
and performing convolution operation on the first external noise signal and a filter coefficient corresponding to an internal microphone to obtain the first internal noise estimation signal.
4. The method of claim 3, wherein the external microphone is plural, and the internal microphone is plural; the performing convolution operation on the first external noise signal and a filter coefficient corresponding to an internal microphone to obtain the first internal noise estimation signal includes:
converting a plurality of first external noise signals collected by the plurality of external microphones at a first moment into a frequency domain to obtain frequency domain signals of the plurality of first external noise signals;
converting the filter coefficient corresponding to the first internal microphone to a frequency domain to obtain a filter frequency domain coefficient corresponding to the first internal microphone;
performing convolution operation on the frequency domain signals of the plurality of first external noise signals and the filter frequency domain coefficient respectively, and obtaining the frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone at the first moment according to each obtained convolution operation result;
the first internal microphone is any one of the plurality of internal microphones, and the plurality of first external noise signals are in one-to-one correspondence with the plurality of external microphones.
5. The method according to claim 4, wherein the convolving the frequency domain signals of the plurality of first external noise signals with the filter frequency domain coefficients respectively, and obtaining the frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone at the first time according to the obtained convolution operation results respectively comprises:
performing convolution operation on the frequency domain signals of the first external noise signals and the filter frequency domain coefficients respectively to obtain a plurality of convolution operation results corresponding to the frequency domain signals of the first external noise signals;
and acquiring the sum of the convolution operation results as a frequency domain signal of the first internal noise estimation signal corresponding to the first internal microphone.
6. The method of claim 2, wherein said updating the initial filter coefficients based on the error signal, resulting in updated filter coefficients, comprises:
inputting the error signal into an objective function to obtain an output value of the objective function, wherein the objective function is constructed according to a minimum mean square error criterion;
and under the condition that the output value is larger than a specified value, updating the initial filter coefficient according to the error signal to obtain an updated filter coefficient.
7. The method of claim 6, wherein said updating the initial filter coefficients based on the error signal, resulting in updated filter coefficients comprises:
acquiring an updated value of a filter coefficient according to the error signal, a preset updating step length and a frequency domain signal of a second external noise signal acquired by the external microphone at a second moment;
and adding the filter frequency domain coefficient corresponding to the internal microphone at the second moment to the updated value to obtain an updated filter frequency domain coefficient, wherein the updated filter frequency domain coefficient is used as the filter frequency domain coefficient corresponding to the internal microphone at the next moment of the second moment.
8. A noise filtering device, applied to a vehicle including an external microphone provided outside the vehicle and an internal microphone provided inside the vehicle, the device comprising:
an acquisition module configured to acquire a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone;
the estimation module is configured to acquire a first internal noise estimation signal of the simulated first external noise signal transmitted into the vehicle according to the first external noise signal and a filter coefficient corresponding to the internal microphone;
a filtering module configured to filter the first internal noise estimate signal from the internal sound signal.
9. A noise filtering system, comprising: at least one exterior microphone for placement outside a vehicle, at least one interior microphone for placement inside the vehicle, and a processing component; the processing component is to:
acquiring a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone;
acquiring a first internal noise estimation signal, which is obtained by transmitting the first external noise signal into the vehicle, according to the first external noise signal and a filter coefficient corresponding to the internal microphone;
filtering the first internal noise estimate signal from the internal sound signal.
10. A vehicle, characterized by comprising: at least one exterior microphone disposed outside the vehicle, at least one interior microphone disposed inside the vehicle, and a processing component;
the processing component is configured to:
acquiring a first external noise signal outside the vehicle collected by the external microphone and an internal sound signal inside the vehicle collected by the internal microphone;
acquiring a first internal noise estimation signal transmitted into the vehicle by the simulated first external noise signal according to the first external noise signal and a filter coefficient corresponding to the internal microphone;
filtering the first internal noise estimate signal from the internal sound signal.
11. A vehicle according to claim 10, characterized in that at least one said external microphone is provided in each of the left and right exterior rear view mirrors of the vehicle.
12. The vehicle of claim 10, wherein a first microphone array and a second microphone array are disposed within the vehicle interior, the first microphone array including two of the interior microphones and the second microphone array including two of the interior microphones;
the first microphone array is disposed in an interior rear view mirror of the vehicle, and the second microphone array is disposed above a rear seat of the vehicle;
or, the first microphone array is arranged in an interior rear view mirror of the vehicle, and two inner microphones in the second microphone array are respectively arranged in a left rear door and a right rear door of the vehicle;
or, two of the interior microphones of the first microphone array are respectively disposed on a left front door and a right front door of the vehicle, and the second microphone array is disposed above a rear seat of the vehicle;
or, two of the first microphone arrays are disposed on a left front door and a right front door of the vehicle, respectively, and two of the second microphone arrays are disposed on a left rear door and a right rear door of the vehicle, respectively.
13. A noise filtering device, applied to a vehicle including an external microphone provided outside the vehicle and an internal microphone provided inside the vehicle, the device comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
wherein the processor is configured to: executing the executable instructions to implement the steps of the method of any one of claims 1 to 7.
14. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the steps of the method of any of claims 1 to 7.
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| CN202210055205.4A CN114464203B (en) | 2022-01-18 | 2022-01-18 | Noise filtering method, device, system, vehicle and storage medium |
| PCT/CN2022/090697 WO2023137912A1 (en) | 2022-01-18 | 2022-04-29 | Noise filtering method, apparatus and system, vehicle, and storage medium |
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