WO2024016609A1

WO2024016609A1 - Active noise reduction method and system, and related apparatus

Info

Publication number: WO2024016609A1
Application number: PCT/CN2022/144168
Authority: WO
Inventors: 李龙晨; 许震洪; 陶然; 马桂林; 雷琴辉; 刘俊峰
Original assignee: 科大讯飞(苏州)科技有限公司
Priority date: 2022-07-20
Filing date: 2022-12-30
Publication date: 2024-01-25
Also published as: CN114937460A; CN114937460B

Abstract

Disclosed in the present application are an active noise reduction method and system, and a related apparatus. The method is applied in an environment to be subjected to noise reduction, and said environment includes a plurality of loudspeakers and at least one microphone. The method comprises: for each of at least one microphone, acquiring a first loudspeaker set corresponding to the microphone, wherein the first loudspeaker set includes at least some loudspeakers, and a transmission error between the at least some loudspeakers and the microphone is not greater than a threshold value; obtaining the current audio signals and a mixed audio signal, which are collected by the microphone, wherein the current audio signals are all audio signals that are received by the microphone, and the mixed audio signal is formed by means of original audio signals, which are sent by the loudspeakers in the first loudspeaker set and are transmitted to the microphone; obtaining an error audio signal on the basis of the current audio signals and the mixed audio signal of the microphone; and obtaining a noise reduction audio signal on the basis of the error audio signal. By means of the method in the present application, a noise reduction effect can be improved, and the noise reduction cost can be reduced.

Description

An active noise reduction method, system and related devices

This application claims the priority of the Chinese patent application with application number 2022108548748 submitted on July 20, 2022, and the invention title is "An active noise reduction method, system and related devices", which is fully incorporated into this application by reference. .

Technical field

The present application relates to the technical field of active noise control, and in particular to an active noise reduction method, system and related devices.

Background technique

As technology in the field of automotive noise control continues to develop, more and more mass-produced models are equipped with active noise reduction technology for interior noise. Among them, the working principle is to use the noise reduction system to generate sound waves with equal amplitude and opposite phase to the external noise sound waves, thereby neutralizing the external noise and achieving the noise reduction effect.

However, the noise inside the car is often the superposition of two types of sounds, one is engine noise, road noise, wind noise, etc. that need to be removed, and the other is music, sound effects, etc. that need to be retained. Existing in-car active noise reduction technology cannot distinguish the types of sounds in the car. During the noise reduction process, other sounds other than noise will be offset and attenuated, thus affecting the experience of drivers or passengers in the car.

Contents of the invention

The main technical problem solved by this application is to provide an active noise reduction method, system and related devices, which can improve the noise reduction effect and save noise reduction costs.

In order to solve the above technical problems, one technical solution adopted by this application is to provide an active noise reduction method. The active noise reduction method is applied to an environment to be noise reduced. The environment to be noise reduced includes multiple speakers and at least one speaker. Microphone, the active noise reduction method includes: for each microphone in the at least one microphone, obtaining a first set of speakers corresponding to the microphone, the first set of speakers including at least part of the plurality of speakers Speaker, the transmission error between at least part of the speaker and the microphone is not greater than a threshold; obtain the current audio signal and mixed audio signal collected by the microphone; wherein the current audio signal is the audio signal received by the microphone All audio signals, the mixed audio signal is formed by transferring the original audio signal emitted by each speaker in the first speaker set to the microphone; an error audio signal is obtained based on the current audio signal of the microphone and the mixed audio signal; A noise-reduced audio signal is obtained based on the error audio signal.

In order to solve the above technical problem, another technical solution adopted by this application is to provide an active noise reduction system, including: a first acquisition module, for each microphone in at least one microphone, to acquire the noise corresponding to the microphone. A first speaker set, the first speaker set includes at least some speakers among the plurality of speakers, and the transmission error between at least some speakers and the microphone is not greater than a threshold; a second acquisition module is used to obtain the The current audio signal and the mixed audio signal collected by the microphone; wherein the current audio signal is all the audio signals received by the microphone, and the mixed audio signal is the original audio signal emitted by each speaker in the first speaker set. The audio signal is transmitted to the microphone; a third obtaining module is used to obtain an error audio signal based on the current audio signal of each microphone and the mixed audio signal; a fourth obtaining module is used to obtain an error audio signal based on the error audio signal Obtain a noise-reduced audio signal.

In order to solve the above technical problems, another technical solution adopted by this application is to provide an electronic device, including a memory and a processor coupled to each other, the memory stores program instructions, and the processor is used to execute the program. instructions to implement the active noise reduction method mentioned in the above technical solution.

In order to solve the above technical problems, another technical solution adopted by this application is to provide a storage device that stores program instructions that can be run by a processor. The program instructions are used to implement the active noise reduction mentioned in the above technical solution. method.

In order to solve the above technical problems, another technical solution adopted by this application is to provide a vehicle including a plurality of speakers and at least one microphone, and the plurality of speakers and at least one microphone cooperate with each other to achieve the above mentioned technical solutions. Active noise reduction method.

The beneficial effects of this application are: different from the existing technology, the active noise reduction method proposed in this application can effectively retain the effective sounds in the vehicle while reducing the noise in the vehicle. In addition, by screening the speaker and microphone combinations in the car to obtain the speaker and microphone combinations that require audio compensation, the noise reduction process can be effectively simplified and the efficiency of active noise reduction in the car can be improved.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts, among which:

Figure 1 is a schematic flow chart of an embodiment of the active noise reduction method of the present application;

Figure 2 is a schematic flowchart corresponding to step S101 in an embodiment;

Figure 3 is a schematic structural diagram of an embodiment of the active noise reduction system of the present application;

Figure 4 is a schematic structural diagram of an embodiment of the electronic device of the present application;

FIG. 5 is a schematic structural diagram of an embodiment of the storage device proposed in this application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

Please refer to Figure 1. Figure 1 is a schematic flowchart of an embodiment of the active noise reduction method of the present application. The active noise reduction method is applied to an environment to be noise reduced. The environment to be noise reduced includes multiple speakers and at least one microphone. The environment to be noise-reduced may include vehicles or indoor environments. In this implementation, when the environment to be noise reduced is a vehicle, the active noise reduction method includes:

S101: For each microphone in at least one microphone, obtain a first speaker set corresponding to the microphone. The first speaker set includes at least some speakers among the plurality of speakers, and the transmission error between at least some speakers and the microphone is not greater than a threshold.

Specifically, please refer to Figure 2. Figure 2 is a schematic flowchart corresponding to step S101 in an implementation manner. The specific implementation process includes:

S201: Obtain the transmission error between each speaker and each microphone in the car.

Specifically, the implementation process of step S201 includes: in response to the vehicle being in a stationary state, that is, there is no engine noise, road noise, wind noise and other noises in the vehicle, and when all the speakers in the vehicle respectively emit the first noise signal, obtain each signal in the vehicle. The second noise signal collected by the microphone. Specifically, before all the speakers respectively emit the first noise signal, a white noise signal of a predetermined frequency is set, and the white noise signal is subjected to low-pass filtering processing to obtain the first noise signal. Wherein, the signal frequency of the first noise signal is lower than the preset cutoff frequency. In this embodiment, the preset cutoff frequency is 500 Hz. Of course, in other embodiments, the preset cutoff frequency can also be set according to actual conditions. Further, the first noise signal is sent to all speakers in the car, and the first noise signal is emitted by one speaker at a time; at this time, for the speaker currently emitting the first noise signal, each microphone collects the first noise signal as the second noise signal. Since there are multiple microphones and multiple speakers in the car, each microphone collects a second noise signal for each speaker.

Further, a transmission error between each speaker and each microphone is obtained based on the first noise signal and the second noise signal. Specifically, the transfer function between each speaker and each microphone is first obtained. Among them, obtaining the transfer function between the speaker and the microphone can be achieved through existing technology, and will not be elaborated here. Further, a convolution operation is performed on the above-mentioned transfer function and the first noise signal emitted by the speaker corresponding to the transfer function to obtain the third noise signal. After obtaining the third noise signal, a fourth noise signal is obtained according to the corresponding second noise signal and the third noise signal collected by the microphone corresponding to the above transfer function. The fourth noise signal is the part of the second noise signal that does not include the third noise signal. Finally, the ratio of the fourth noise signal to the second noise signal is used as the transmission error. Calculating the transmission error between each speaker and each microphone helps to screen out speaker and microphone combinations with greater low-frequency effects.

For example, the step of obtaining the transmission error between the k-th speaker and the i-th microphone includes: controlling the k-th speaker to emit a first noise signal, and obtaining the second noise signal collected by the i-th microphone at this time. Obtain the transfer function between the k-th speaker and the i-th microphone, and convolve the transfer function with the first noise signal emitted by the k-th speaker to obtain the third noise signal. The part of the second noise signal that does not include the third noise signal is taken as the fourth noise signal, and the ratio of the fourth noise signal to the second noise signal is taken as the transmission error between the k-th speaker and the i-th microphone.

In one implementation, the formula for calculating the transmission error ErrorH _ik between the k-th loudspeaker and the i-th microphone at time n is as follows:

In the above formula, i is the number of microphones in the car, k is the number of speakers in the car, MicWhiteNosie _i (n) represents the second noise signal collected by the i-th microphone, H _ik (n) represents the k-th speaker corresponding to the The transfer function of i microphones,

Represents the convolution operation symbol, FilterWhiteNosie(n) represents the first noise signal,

represents the third noise signal.

S202: Obtain a first speaker set based on filtering of all transmission errors related to the microphone.

Specifically, the implementation process of step S202 includes: for each microphone, filtering and obtaining the first speaker set based on all transmission errors related to the microphone. Among them, the transmission error of all speakers in the first speaker set relative to the current microphone is not greater than the threshold, that is, the speakers corresponding to the transmission error less than or equal to the threshold are regarded as the first speaker set; and, the greater the transmission error, the loudspeakers related to the transmission error The smaller the low-frequency impact on the corresponding microphone. In this implementation manner, the value range of the above threshold value is between 0 and 1, and the specific value can be determined according to actual needs. Comparing the transmission error with the threshold helps to screen out the speakers that have a greater impact on the low frequency of the corresponding microphone, which can subsequently reduce the computational load of the DSP (Digital Signal Processing) chip and improve the efficiency of active noise reduction.

It should be noted that in the entire active noise reduction method, only one screening step is required to obtain the first speaker set.

S102: Obtain the current audio signal and mixed audio signal collected by the microphone. The current audio signal is all the audio signals received by the microphone, and the mixed audio signal is formed by transmitting the original audio signals from each speaker in the first speaker set to the microphone.

Specifically, the specific implementation process of step S102 includes: obtaining the current audio signal collected by each microphone, where the current audio signal includes all sound signals in the environment to be noise-reduced that can be collected by the current microphone. That is, in this embodiment, the current audio signal is all the sound signals in the car obtained by direct reception of the microphone.

Further, the original audio signal emitted by each speaker in the first speaker set corresponding to each microphone is obtained and the mixed audio signal transmitted to the corresponding microphone is obtained. The specific process includes: first obtaining a first transfer function set between each speaker and the corresponding microphone in the first speaker set corresponding to each microphone. Among them, obtaining the transfer function can be achieved through existing technology, and will not be elaborated here. Further, for each microphone, perform a convolution operation on the transfer function in the first transfer function set corresponding to the microphone and the original audio signal emitted by the corresponding speaker, and superimpose all the convolved results to obtain the audio signal collected by each microphone. The corresponding mixed audio signal. That is, in this embodiment, the current audio signal is directly collected by the microphone, and the mixed audio signal is obtained by calculation and processing based on the transfer function and the corresponding original audio signal.

In this embodiment, the original audio signal emitted by the speaker includes a tuned audio signal obtained through an external device or network. For example, when a user connects a vehicle to a mobile phone or other device via Bluetooth or a data cable to play music or other audio, the original audio signal is an audio signal obtained through a mobile phone or other device that does not require active noise reduction processing; or, the original audio signal The signal can also be music or other audio played by the user through the car networking function.

In one implementation, the formula for calculating the mixed audio signal MicSound _i (n) at the i-th microphone at time n is as follows:

In the above formula, H _ij (n) represents the transfer function between the j-th loudspeaker and the i-th microphone,

is the convolution operator, SpkSound _j (n) represents the original audio signal emitted by the j-th speaker, and J is the total number of speakers in the first speaker set.

It should be noted that in practical applications, the current audio signal can be obtained first and then the mixed audio signal can be obtained, or the mixed audio signal can be obtained first and then the current audio signal can be obtained.

S103: Obtain an error audio signal based on the current audio signal of the microphone and the mixed audio signal.

The implementation process of step S103 includes: According to the above step S102, it can be known that the current audio signal of each microphone includes all sounds that can be collected in the car. Combined with the calculation method of the error audio signal in the feedforward FxLMS adaptive algorithm, the error audio signal can be obtained based on the current audio signal of each microphone and the mixed audio signal; that is, for each microphone, the current audio signal collected by the microphone does not include The part corresponding to the mixed audio signal is used as an error audio signal to help retain the sounds in the car that do not require noise reduction during the subsequent noise reduction process and further optimize the noise reduction effect.

In one embodiment, combined with the calculation formula of the mixed audio signal MicSound _i (n) in step S102, the formula for calculating the error audio signal Error _i (n) of the i-th microphone is as follows:

In the above formula, MicSum _i (n) represents the current audio signal collected by the i-th microphone.

S104: Obtain the noise-reduction audio signal based on the error audio signal.

Specifically, the implementation process of step S104 includes: after obtaining the error audio signal Error _i (n) of each microphone, obtaining a target error audio signal based on the error audio signals corresponding to all microphones. The target noise reduction signal corresponding to the environment to be noise reduction (ie, inside the vehicle) is determined based on the target error audio signal. Wherein, the target noise reduction signal includes a noise reduction wave with equal amplitude and opposite phase to the noise sound wave.

Further, the noise reduction audio signal is sent to the noise reduction module, so that the noise reduction module emits noise reduction waves to achieve active noise reduction. The number and installation positions of noise reduction modules can be set according to actual conditions to achieve better noise reduction effects.

In a specific implementation, the obtained error audio signals Error _i (n) of all microphones are substituted into the feedforward FxLMS adaptive algorithm to obtain the target error audio signal, and the target error audio signal is used to calculate the target noise reduction audio signal, The specific process will not be elaborated. In response, the noise reduction module may be a noise reduction speaker with a noise reduction function among the multiple speakers in the car, and sends the target noise reduction signal to at least some of the noise reduction speakers, so that at least some of the noise reduction speakers send out the target noise reduction signal. Among them, the noise reduction speaker can be specially used for noise reduction, that is, it can only be used to send out the target noise reduction signal to reduce the noise in the car; or the noise reduction speaker can also be used to play the target noise reduction signal and the original audio signal at the same time.

In addition, in practical applications, in order to achieve better noise reduction effect, the noise reduction speakers in the car are generally installed at the doors and trunk.

The active noise reduction method proposed in this application can effectively retain the effective sounds in the car while reducing the noise in the car. In addition, by screening the speaker and microphone combinations in the car to obtain the speaker and microphone combinations that require audio compensation, the noise reduction process can be effectively simplified and the efficiency of active noise reduction in the car can be improved.

In one embodiment, during the actual active noise reduction process in the car, the current audio signal collected by the microphone in the car also includes the noise reduction audio signal sent by the noise reduction module. Therefore, in step S102, the i-th microphone in the car collects The current audio signal MicSum _i (n) obtained can be calculated by the following formula:

MicSum _i (n)=MicNoise _i (n)+MicSound _i (n)+MicAntuNoise _i (n)

In the above formula, MicNoise _i (n) represents the noise in the car collected by the i-th microphone, MicSound _i (n) represents the mixed audio signal collected by the i-th microphone, and MicAntiNoise _i (n) represents the mixed audio signal collected by the i-th microphone. noise reduction audio signal.

Furthermore, in the feedforward FxLMS adaptive algorithm, the calculation formula of the error audio signal Error _i (n) is as follows:

Error _i (n)＝MicNoise _i (n)+MicAntiNoise _i (n)

Combining the above formula and the MicSound _i (n) calculation formula of the mixed audio signal in step S102, the error audio signal Error _i (n) after removing the mixed audio signal in step S103 can be obtained to help actively reduce the noise in the car. During the noise reduction process, some sounds that do not require noise reduction are retained.

In yet another embodiment, when reducing noise in the car at the initial moment, all the sounds that can be collected by the microphone in the car are used as error audio signals, and the initial noise reduction audio signal is obtained based on the feedforward FxLMS adaptive algorithm. The noise reduction module in the car sends an initial noise reduction audio signal. Then steps S103-S104 in the above embodiment are performed to update the initial noise reduction audio signal in real time and improve the noise reduction effect.

In yet another embodiment, some speakers and noise reduction modules in the car can emit noise reduction audio signals to achieve active noise reduction in the car. Specifically, the speakers in the car can be divided into first type speakers and second type speakers. Among them, the first type of speakers can be used to emit original audio signals that have been tuned and processed, and the second type of speakers can be used to emit the original audio signals and noise-reduced audio signals that have been tuned. After obtaining the noise reduction audio signal, the noise reduction audio signal is sent to the second type speaker and/or noise reduction module, and the second type speaker and/or noise reduction module emits the noise reduction wave to achieve active noise reduction in the car. .

When the speakers in the car are divided into the first type of speakers and the second type of speakers, the MicSound _i (n) formula for calculating the mixed audio signal at the i-th microphone at time n in step S102 is as follows:

In the above formula, P is the total number of first-type loudspeakers in the first loudspeaker set, Q is the total number of second-type loudspeakers in the first loudspeaker set, and H _ip represents the transfer function between the p-th first-type loudspeaker and the i-th microphone. , H _iq represents the transfer function between the q-th second-class speaker and the i-th microphone, SpkSound _p (n) represents the original audio signal emitted by the p-th first-class speaker, SpkSound _q (n) represents the q-th second The original audio signal emitted by the speaker.

Further, combined with the calculation formula of the error audio signal Error _i (n) of the i-th microphone in step S103, in response to the fact that the speakers in the car are divided into the first type of speakers and the second type of speakers, then in this embodiment, the calculation formula of the i-th microphone error audio signal Error i (n) is The formula of the error audio signal Error _i (n) of i microphones is as follows:

The present invention also proposes an active noise reduction system. Please refer to FIG. 3 for details. FIG. 3 is a schematic structural diagram of an embodiment of the active noise reduction system of the present application. The active noise reduction system proposed in this application includes: a first acquisition module 10 , a second acquisition module 20 , a third acquisition module 30 and a fourth acquisition module 40 . Wherein, the first obtaining module 10 is used to obtain, for each microphone in the at least one microphone, a first set of speakers corresponding to the microphone. The first set of speakers includes at least some of the speakers among the plurality of speakers, and at least some of the speakers are connected to the microphone. The transmission error is not greater than the threshold.

Wherein, obtaining the first speaker set corresponding to the microphone includes: in response to the vehicle being in a stationary state and all speakers in the vehicle respectively emitting the first noise signal, obtaining the second noise signal collected by any microphone in the vehicle; based on The first noise signal and the second noise signal obtain the transmission error between each speaker and each microphone; for each microphone, the first speaker set is obtained based on all transmission errors related to the microphone; where, in the first speaker set The transmission error of all speakers relative to the current microphone is not greater than the threshold.

Wherein, the signal frequency of the first noise signal is lower than the preset cutoff frequency.

Among them, when all the speakers in the vehicle respectively emit the first noise signal, obtaining the second noise signal collected by any microphone in the vehicle includes: sending the first noise signal to all speakers in the vehicle, and transmitting the first noise signal to each speaker one at a time. A first noise signal is emitted; for the speaker currently emitting the first noise signal, the first noise signal collected by each microphone is used as the corresponding second noise signal.

Wherein, obtaining the transfer error between each speaker and each microphone based on the first noise signal and the second noise signal includes: obtaining the transfer function between each speaker and each microphone; comparing the transfer function with the signal emitted by the corresponding speaker The first noise signal is subjected to a convolution operation to obtain the third noise signal; the fourth noise signal is obtained according to the corresponding second noise signal and the third noise signal collected by the corresponding microphone according to the transfer function; where the fourth noise signal is the second noise signal does not include the part of the third noise signal; the ratio of the fourth noise signal to the second noise signal is regarded as the transmission error.

The second obtaining module 20 is used to obtain the current audio signal and the mixed audio signal collected by the microphone; wherein the current audio signal is all the audio signals received by the microphone, and the mixed audio signal is the first speaker The original audio signal emitted by each loudspeaker in the set is passed to the microphone.

Wherein, the step of obtaining the mixed audio signal collected by the microphone includes: obtaining a first transfer function set between each speaker and the corresponding microphone in the first set of speakers corresponding to each microphone; for each microphone, obtaining the first transfer function set corresponding to the microphone. The transfer function in the function set is convolved with the original audio signal emitted by the corresponding speaker, and all the convolved results are superimposed to obtain the mixed audio signal corresponding to each microphone.

Among them, the original audio signal emitted by the speaker is an audio signal obtained through an external device or network.

The third obtaining module 30 is used to obtain an error audio signal based on the current audio signal of the microphone and the mixed audio signal. Specifically, for each microphone, the part of the current audio signal collected by the microphone that does not include the corresponding mixed audio signal is used as the error audio signal. Among them, the current audio signal includes all sounds that can be collected in the environment to be noise-reduced.

The fourth obtaining module 40 is used to obtain a noise-reduction audio signal based on the error audio signal. Specifically, based on the error audio signal corresponding to each microphone, the target error audio signal is obtained; based on the target error audio signal, the target noise reduction signal corresponding to the environment to be denoised is determined.

Wherein, after the step of determining the target noise reduction signal based on the target error audio signal, the step includes: sending the target noise reduction signal to at least some of the noise reduction speakers among the plurality of speakers, so that at least some of the noise reduction speakers emit the target noise reduction signal.

Please refer to Figure 4. Figure 4 is a schematic structural diagram of an embodiment of an electronic device of the present application. The electronic device includes a memory 50 and a processor 60 coupled to each other. Program instructions are stored in the memory 50, and the processor 60 is used to execute the program instructions. To implement the steps of the active noise reduction method in the above embodiment. Specifically, electronic devices include but are not limited to: desktop computers, laptop computers, tablet computers, servers, etc., which are not limited here. In addition, the processor 60 may also be called a CPU (Center Processing Unit). The processor 60 may be an integrated circuit chip with signal processing capabilities. The processor 60 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field-Programmable Gate Array, FPGA), or Other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. In addition, the processor 60 may be implemented by an integrated circuit chip.

Please refer to Figure 5. Figure 5 is a schematic structural diagram of an embodiment of a storage device proposed in this application. The storage device 70 stores program instructions 80 that can be run by a processor. The program instructions 80 are used to implement any of the above embodiments. Active noise reduction method.

The above descriptions are only embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies fields are equally included in the scope of patent protection of this application.

Claims

An active noise reduction method, characterized in that the active noise reduction method is applied to an environment to be noise reduced, the environment to be noise reduced contains multiple speakers and at least one microphone, the active noise reduction method includes:

For each microphone in the at least one microphone, a first set of speakers corresponding to the microphone is obtained, the first set of speakers includes at least part of the speakers in the plurality of speakers, and the at least part of the speakers is related to the The transmission error between microphones is not greater than the threshold;

Obtain the current audio signal and mixed audio signal collected by the microphone; wherein the current audio signal is all audio signals received by the microphone, and the mixed audio signal is emitted by each speaker in the first speaker set The original audio signal is transmitted to the microphone to form;

Obtain an error audio signal based on the current audio signal of the microphone and the mixed audio signal;

A noise-reduced audio signal is obtained based on the error audio signal.
The active noise reduction method according to claim 1, characterized in that, in response to the environment to be noise reduction being a vehicle, the obtaining the first speaker set corresponding to the microphone includes:

In response to the vehicle being in a stationary state, when all the speakers in the vehicle respectively emit the first noise signal, a second noise signal collected by any microphone in the vehicle is obtained; based on the first noise signal and the third 2. noise signal to obtain the transmission error between each of the speakers and each of the microphones;

For each of the microphones, a first speaker set is obtained based on all the transmission errors associated with the microphone; wherein the transmission errors of all the speakers in the first speaker set relative to the current microphone are no greater than the stated threshold.
The active noise reduction method according to claim 2, characterized in that when all the speakers in the vehicle respectively emit the first noise signals, the step of obtaining the second noise signal collected by any microphone in the vehicle, include:

sending the first noise signal to all the speakers in the vehicle, and emitting the first noise signal from one of the speakers at a time;

For the speaker currently emitting the first noise signal, the first noise signal collected by each microphone is used as the corresponding second noise signal.
The active noise reduction method according to claim 2, wherein the method of obtaining the transmission error between each of the speakers and each of the microphones based on the first noise signal and the second noise signal is steps, including:

Obtain a transfer function between each of the speakers and each of the microphones;

Perform a convolution operation on the transfer function and the first noise signal emitted by the corresponding speaker to obtain a third noise signal;

A fourth noise signal is obtained according to the transfer function corresponding to the second noise signal and the third noise signal collected by the microphone; wherein the fourth noise signal is a signal not included in the second noise signal. part of the third noise signal;

The ratio of the fourth noise signal to the second noise signal is used as the transmission error.
The active noise reduction method according to claim 2, characterized in that:

The signal frequency of the first noise signal is lower than the preset cutoff frequency.
The active noise reduction method according to claim 1, wherein the step of obtaining the mixed audio signal collected by the microphone includes:

Obtain a first transfer function set between each speaker in the first speaker set corresponding to each microphone and the corresponding microphone;

For each microphone, perform a convolution operation on the transfer function in the first transfer function set corresponding to the microphone and the original audio signal emitted by the corresponding speaker, and combine all the convolved results Superposition is performed to obtain the mixed audio signal corresponding to each microphone.
The active noise reduction method according to claim 6, wherein the original audio signal emitted by the speaker includes an audio signal obtained through an external device or network.
The active noise reduction method according to claim 1, wherein the step of obtaining an error audio signal based on the current audio signal and the mixed audio signal of the microphone includes:

For each microphone, the part of the current audio signal collected by the microphone that does not include the corresponding mixed audio signal is used as the error audio signal.
The active noise reduction method according to claim 8, wherein the current audio signal includes all sounds that can be collected in the environment to be noise reduced.
The active noise reduction method according to claim 1, wherein the step of obtaining the noise reduction audio signal based on the error audio signal includes:

Based on the error audio signals corresponding to all the microphones, obtain a target error audio signal;

A target noise reduction signal corresponding to the environment to be noise reduction is determined based on the target error audio signal.
The active noise reduction method according to claim 10, characterized in that, after the step of determining the target noise reduction signal corresponding to the environment to be noise reduction based on the target error audio signal, the method includes:

The target noise reduction signal is sent to at least some of the noise reduction speakers among the plurality of speakers, so that the at least some of the noise reduction speakers emit the target noise reduction signal.
An active noise reduction system, characterized by including:

A first obtaining module configured to obtain, for each microphone in at least one microphone, a first set of speakers corresponding to the microphone, the first set of speakers including at least some of the plurality of speakers, and the at least The transmission error between some speakers and the microphone is not greater than the threshold;

The second acquisition module is used to obtain the current audio signal and the mixed audio signal collected by the microphone; wherein the current audio signal is all the audio signals received by the microphone, and the mixed audio signal is the third audio signal. The original audio signal emitted by each speaker in a set of speakers is transmitted to the microphone;

a third obtaining module, configured to obtain an error audio signal based on the current audio signal of each of the microphones and the mixed audio signal;

A fourth obtaining module is used to obtain a noise-reduction audio signal based on the error audio signal.
An electronic device, characterized in that it includes a memory and a processor coupled to each other, program instructions are stored in the memory, and the processor is used to execute the program instructions to implement any one of claims 1-11. The active noise reduction method described above.
A storage device, characterized in that it stores program instructions that can be run by a processor, and the program instructions are used to implement the active noise reduction method according to any one of claims 1-11.
A vehicle, characterized in that it includes a plurality of speakers and at least one microphone, and the plurality of speakers and the at least one microphone cooperate with each other to achieve the active noise reduction described in any one of claims 1-11. method.