Systems and methods for active noise cancellation for interior of autonomous vehicle

A method for active-noise-cancellation in an interior of a vehicle, the method comprising:

• receiving an audio signal from a microphone, the audio signal indicative of a first sound that is emitted by a noise source and that is incident on the microphone;
• determining a position of the noise source in a driving environment of the vehicle based upon a sensor signal received from a sensor system mounted on the vehicle, the sensor signal indicative of objects in the driving environment;
• computing a complementary signal based upon the position of the noise sources, a propagation model that is representative of propagation of sounds from the position of the noise source to a position of the vehicle through the driving environment of the vehicle, and the audio signal received from the microphone;
• and
• outputting the complementary signal to the speaker, wherein the complementary signal is configured to cause the speaker to emit a second sound that interferes with the first sound in the interior of the vehicle, thereby attenuating the first sound.

A vehicle comprising:

• a speaker positioned in a passenger cabin of the vehicle;
• a microphone, wherein the microphone outputs an audio signal that is indicative of noise emitted by a noise source in a driving environment of the vehicle;
• a sensor that outputs data indicative of positions of objects in the driving environment of the vehicle;
• and
• a computing system configured to perform acts comprising:
• determining a position of the noise source in the driving environment of the vehicle based upon output of the sensor;
• computing a complementary signal based upon the position of the noise source, a propagation model that models propagation of the noise from the position of the noise source to a position of the vehicle, and the audio signal;
• and
• outputting the complementary signal to the speaker, wherein the complementary signal is configured to cause the speaker to emit a sound that causes the noise to be attenuated in the passenger cabin of the vehicle.