Patent Publication Number: US-2017352349-A1

Title: Voice processing device

Description:
TECHNICAL FIELD 
     The present invention relates to a voice processing device. 
     BACKGROUND ART 
     Various devices are mounted on a vehicle, for example, an automobile. These various types of devices are operated by, for example, the operation of an operation button or an operation panel. 
     Meanwhile, recently, a technology of voice recognition is proposed (Patent documents 1 to 3). 
     DOCUMENT OF PRIOR ART 
     Patent Document 
     
         
         Patent document 1: JP2012-215606A 
         Patent document 2: JP2012-189906A 
         Patent document 3: JP2012-42465A 
       
    
     OVERVIEW OF INVENTION 
     Problem to be Solved by Invention 
     However, various noises exist in the vehicle. Accordingly, a voice that is generated in the vehicle is not easily recognized. 
     An object of the present invention is to provide a favorable voice processing device which may enhance a certainty of voice recognition. 
     Means for Solving Problem 
     According to an aspect of this disclosure, a voice processing device is provided, the voice process device including plural microphones disposed in a vehicle, a voice source direction determination portion determining a direction of a voice source by handling a sound reception signal as a spherical wave in a case where the voice source serving as a source of a voice included in the sound reception signal obtained by each of the plurality of microphones is disposed at a near field, the voice source direction determination portion determining the direction of the voice source by handling the sound reception signal as a plane wave in a case where the voice source is disposed at the far field, and a beamforming processing portion performing beamforming so as to suppress a sound arriving from a direction range other than a direction range including the direction of the voice source. 
     Effect of Invention 
     According to the present invention, in case where a voice source is positioned at a near field, the direction of the voice source may be highly precisely determined even in a case where the voice source is disposed at the near field since the voice is handled as the spherical wave. The direction of the voice source may be highly precisely determined, and thus, according to the present invention, a sound other than a target sound may be securely restrained. Furthermore, in a case where the voice source is disposed at the far field, the direction of the voice source is determined such that the voice is handled as the plane wave, and thus the processing load for determining the direction of the voice source may be reduced. Accordingly, according to the present invention, the favorable voice processing device that may enhance the certainty of the voice recognition may be provided. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a view schematically illustrating a configuration of a vehicle; 
         FIG. 2  is a block diagram illustrating a system configuration of a voice processing device of an embodiment of the present invention; 
         FIG. 3A  is a view schematically illustrating an example of a disposition of microphones in a case where the three microphones are provided; 
         FIG. 3B  is a view schematically illustrating an example of the disposition of the microphones in a case where the two microphones are provided; 
         FIG. 4A  is a view illustrating a case where a voice source is disposed at a far field; 
         FIG. 4B  is a view illustrating a case where the voice source is disposed at a near field; 
         FIG. 5  is a view schematically illustrating an algorithm of removal of music; 
         FIG. 6  is view illustrating a signal wave before and after the removal of music; 
         FIG. 7  is a view illustrating an algorithm of a determination of a direction of the voice source; 
         FIG. 8A  is a view illustrating an adaptive filter coefficient; 
         FIG. 8B  is a view illustrating a direction angle of the voice source; 
         FIG. 8C  is a view illustrating an amplitude of a voice signal: 
         FIG. 9  is a view conceptually illustrating a directivity of a beamformer; 
         FIG. 10  is a view illustrating an algorithm of the beamformer; 
         FIG. 11  is a graph illustrating an example of the directivity gained by the beamformer; 
         FIG. 12  is a view illustrating an angle characteristic in a case where the beamformer and a cancellation process of the voice source direction determination; 
         FIG. 13  is a graph illustrating an example of the directivity gained by the beamformer; 
         FIG. 14  is a view illustrating an algorithm of the removal of noise; 
         FIG. 15  is a view illustrating a signal wave before and after the removal of the noise; and 
         FIG. 16  is a flowchart illustrating an operation of a voice processing device of an embodiment of the present invention. 
     
    
    
     MODE FOR CARRYING OUT THE INVENTION 
     Hereinafter, an embodiment of the present invention will be explained with reference to the drawings. However, the present invention is not limited to the embodiment disclosed hereunder, and may be appropriately changed within a scope without departing from the spirit of the present invention. In addition, in the drawings explained hereinunder, the same reference numerals are provided for components having the same function, and the explanation of the components may be omitted or may be simplified. 
     An Embodiment 
     A voice processing device of an embodiment of the present invention will be explained with reference to  FIGS. 1 to 17 . 
     A configuration of a vehicle will be explained with reference to  FIG. 1  before explaining the voice processing device of the embodiment.  FIG. 1  is a view schematically illustrating the configuration of the vehicle. 
     As shown in  FIG. 1 , a driver seat  40  serving as a seat for a driver and a passenger seat  44  serving as a seat for a passenger are disposed at a front portion of a vehicle body (a vehicle compartment)  46  of a vehicle (an automobile). The driver seat  40  is disposed at, for example, a right side of the vehicle compartment  46 . A steering wheel (handle)  78  is provided at a front of the driver seat  40 . The passenger seat  44  is disposed at, for example, a left side of the vehicle compartment  46 . A front seat is configured with the driver seat  40  and the passenger seat  44 . A voice source  72   a  is disposed in the vicinity of the driver seat  40  in a case where the driver speaks. A voice source  72   b  is disposed in the vicinity of the passenger seat  44  in a case where the passenger speaks. The position of the voice source  72  may change since the upper bodies of the driver and the passenger may move in a state of being seated on the seats  40 ,  44 , respectively. A rear seat  70  is disposed at a rear portion of the vehicle body  46 . Furthermore, here, in a case where an individual voice is explained without being distinguished, a reference numeral  72  is used, and in a case where the individual voice that is distinguished is explained, reference numerals  72   a ,  72   b  are used. 
     Plural microphones  22  ( 22   a  to  22   c ), in other words, a microphone array, are provided at a front of the front seats  40 ,  44 . In addition, here, in a case where the individual microphones are explained without being distinguished, a reference numeral  22  is used. In a case where the individual microphones that are distinguished are explained, reference numerals  22   a  to  22   c  are used. The microphones  22  may be disposed at a dashboard  42 , or may be disposed at a portion in the vicinity of a roof. 
     The distance between the voice sources  72  of the front seats  40 ,  44  and the microphones  22  is often dozens of centimeters. However, the microphones  22  and the voice source  72  of the front seats  40 ,  44  may often be spaced apart from each other by shorter than the dozens of centimeter. In addition, the microphones  22  and the voice source  72  may be spaced apart from each other by longer than one meter. 
     A speaker (a loud-speaker)  76  with which a speaker system of a vehicle-mounted audio device (a vehicle audio device)  84  (see  FIG. 2 ) is configured is disposed inside the vehicle body  46 . Music from the speaker  76  may be a noise when the voice recognition is performed. 
     An engine  80  for driving the vehicle is disposed at the vehicle body  46 . Sound from the engine  80  may be a noise when the voice recognition is performed. 
     Sound generated in the vehicle compartment  46  by an impact of a road surface when the vehicle runs, that is, a road noise may be a noise when the voice recognition is performed. Furthermore, a wind noise generated when the vehicle runs may be a noise source when the voice recognition is performed. There may be noise sources  82  outside the vehicle body  46 . Sounds generated from the outside noise sources  82  may be a noise when the voice recognition is performed. 
     It is convenient if the operation of various devices mounted on the vehicle  46  may be performed by a voice instruction. The voice instruction may be recognized by, for example, using an automatic voice recognition device which is not illustrated. The voice processing device of the present embodiment is contributed to the enhancement of the precision of the voice recognition. 
       FIG. 2  is a block diagram illustrating a system configuration of the voice processing device of the present embodiment. 
     As illustrated in  FIG. 2 , the voice processing device of the present embodiment includes a preprocessing portion  10 , a processing portion  12 , a postprocessing portion  14 , a voice source direction determination portion  16 , an adaptive algorithm determination portion  18 , and a noise model determination portion  20 . 
     The voice processing device of the present embodiment may further include an automatic voice recognition device which is not illustrated, or may be separately provided from the automatic voice recognition device. The device including these components and the automatic voice recognition device may be called as a voice processing device or an automatic voice recognition device. 
     The preprocessing portion  10  is inputted with signals obtained by plural microphones  22   a  to  22   c , in other words, sound reception signals. For example, a non-directional microphone is used as the microphones  22 . 
       FIGS. 3A and 3B  are views schematically illustrating examples of dispositions of the microphones.  FIG. 3A  shows a case where the three microphones  22  are provided, and  FIG. 3B  shows a case where the two microphones  22  are provided. The plural microphones  22  are provided so as to be disposed on a straight line. 
       FIGS. 4A and 4B  are figures illustrating cases where the voice sources are disposed at the far field and at the near field, respectively.  FIG. 4A  is the case where the voice source  72  is disposed at the far field, and  FIG. 4B  is the case where the voice source  72  is disposed at the near field. A character d shows a difference in distance from the voice source  72  to the microphones  22 . A symbol θ shows an azimuth direction of the voice source  72 . 
     As  FIG. 4A  shows, the voice arriving at the microphones  22  may be determined as a plane wave in a case where the voice source  72  is disposed at the far field. Accordingly, in the embodiment, in a case where the voice source  72  is disposed at the far field, the azimuth direction (the direction) of the voice source  72 , in other words, the voice direction (Direction of Arrival, or DOA) is determined by handling the voice arriving at the microphones  22  as the plane wave. Since the voice arriving at the microphones  22  may be handled as the plane wave, the direction of the voice source  72  may be determined by using the two microphones  22  in a case where the voice source  72  is disposed at the far field. In addition, even in a case where the two microphones  22  are used, the direction of the voice source  72  that is disposed at the near field may be determined depending on the dispositions of the voice source  72  or of the microphones  22 . 
     As illustrated in  FIG. 4B , in a case where the voice source  72  is disposed at the near field, the voice arriving at the microphones  22  may be identified as a spherical wave. Thus, according to the embodiment, in a case where the voice source  72  is disposed at the near field, the voice arriving at the microphones  22  is handled as spherical wave, and the direction of the voice source  72  is determined. Because the voice arriving at the microphones  22  is required to be handled as the spherical wave, at least three microphones  22  are used to determine the direction of the voice source  72  in a case where the voice source  72  is disposed at the near field. Here, for simplifying the explanation, the case where the three microphones  22  are used will be explained as an example. 
     A distance L 1  between the microphone  22   a  and the microphone  22   b  is set relatively long. A distance L 2  between the microphone  22   b  and the microphone  22   c  is set relatively short. 
     The reason why the distance L 1  and the distance  2  are different from each other in the embodiment will be described as follows. That is, in the embodiment, the direction of the voice source  72  is specified based on the voice arriving at the microphones  22  (Time Delay Of Arrival (TDOA) of the sound reception signal). Because the voice having a relatively low frequency includes a relatively long wavelength, it is favorable that the distance between the microphones  22  is set relatively large in order to support the voice which includes the relatively low frequency. Accordingly, in the embodiment, the distance L 1  between the microphone  22   a  and the microphone  22   b  is set relatively long. On the other hand, because the voice which includes the relative high frequency includes a wavelength which is relatively short, it is favorable that the distance between the microphones  22  is set relatively short in order to support the voice which includes the relative high frequency. Thus, in the embodiment, the distance L 2  between the microphone  22   b  and the microphone  22   c  is set relatively short. 
     The distance L 1  between the microphone  22   a  and the microphone  22   b  corresponds to, for example, 5 centimeters in order to be favorable relative to the voice having the frequency of equal to or less than, for example, 3400 Hz. The distance L 2  between the microphone  22   b  and the microphone  22   c  corresponds to, for example, 2.5 centimeters in order to be favorable relative to the voice having the frequency of greater than, for example, 3400 Hz. In addition, the distances L 1 , L 2  are not limited thereto and may be appropriately set. 
     In the embodiment, the reason why the voice arriving at the microphones  22  is handled as the plane wave is that, in a case where the voice source  72  is disposed at the far field, the process for determining the direction of the voice source  72  is easier in a case where the voice is handled as the plane wave than a case where the voice is handled as the spherical wave. Accordingly, in the embodiment, in a case where the voice source  72  is disposed at the far field, the voice arriving at the microphones  22  is handled as the plane wave. Since the voice arriving at the microphones  22  is handled as the plane wave, the process load for determining the direction of the voice source  72  may be reduced in a case where the direction of the voice source  72  that is disposed at the far field is determined. 
     Although the process load for determining the direction of the voice source  72  is increased, the voice arriving at the microphones  22  is handled as the spherical wave in a case where the voice source  72  is disposed at the near field. This is because the direction of the voice source  72  may not be determined accurately if the voice arriving at the microphones  22  is not handled as the spherical wave in a case where the voice source  72  is disposed at the near field. 
     As such, in the present embodiment, in a case where the voice source  72  is disposed at the far field, the direction of the voice source  72  is determined by handling the voice as the plane wave. In a case where the voice source  72  is disposed at the near field, the direction of the voice source  72  is determined by handling the voice as the spherical wave. 
     As illustrated in  FIG. 2 , the sound reception signal obtained by the plural microphones  22  is inputted to the preprocessing portion  10 . The preprocessing portion  10  performs a sound field correction. In the sound field correction, the tuning operation considering audio characteristics of the vehicle compartment  46  serving as the audio space is performed. 
     In a case where the sound reception signal obtained by the microphones  22  includes music, the preprocessing portion  10  removes the music from the sound reception signal obtained by the microphones  22 . The preprocessing portion  10  is inputted with a reference music signal (a reference signal). The preprocessing portion  10  removes the music included in the sound reception signal obtained by the microphones  22  by using the reference music signal. 
       FIG. 5  is a view schematically illustrating an algorithm of a removal of music. In a case where the music plays by the vehicle-mounted audio device  84 , the sound reception signal obtained by the microphones  22  includes music. The sound reception signal including the music obtained by the microphones  22  is inputted to a music removal processing portion  24  provided in the preprocessing portion  10 . The reference music signal is inputted to the music removal processing portion  24 . The reference music signal may be obtained by obtaining the music outputted from, for example, the speaker  76  of the vehicle-mounted audio device  84  by microphones  26   a  and  26   b . A music source signal before converting into sound by the speaker  76  may be inputted to the music removal processing portion  24  as the reference music signal. 
     The output signal from the music removal processing portion  24  is inputted to a step-size determination portion  28  which is provided in the preprocessing portion  10 . The step-size determination portion  28  determines a step size of the output signal of the music removal processing portion  24 . The step size determined by the step-size determination portion  28  is feedbacked to the music removal processing portion  24 . The music removal processing portion  24  removes the music from the signal including the music by algorithms of a normalized least square method (Normalized Least-Mean Square:NLMS) in the frequency range based on the step size determined by the step-size determination portion  28  by using the reference music signal. The sufficient processing stages are performed to process the removal of the music in order to sufficiently remove the reverberation component of the music inside the vehicle component  46 . 
       FIG. 6  is a view illustrating a signal wave before and after the removal of the music. A lateral axis indicates a time and a longitudinal axis indicates an amplitude. A signal having a color of gray illustrates a state before the removal of the music. A signal having a color of black illustrates a state after the removal of the music. As seen from  FIG. 6 , the music is securely removed. 
     As such, the signal from which the music is removed is outputted from the music removal processing portion  24  of the preprocessing portion  10  and is inputted to the processing portion  12 . Meanwhile, in a case where the music may not be removed sufficiently by the preprocessing portion  10 , the postprocessing portion  14  may perform the removal process of the music. 
     The direction of the voice source is determined by a voice source direction determination portion  16 .  FIG. 7  is a view illustrating an algorithm of the determination of the direction of the voice source. The signal from the microphone  22  of the plural microphones  22  is inputted to a delay portion  30  provided in the voice source direction determination portion  16 . The signals from the other microphones  22  of the plural microphones  22  are inputted to an adaptive filter  32  provided in the voice source direction determination portion  16 . The output signals of the delay portion  30  and the output signals of the adaptive filter  32  are inputted to a subtraction point  34 . In the subtraction point  34 , the output signals of the adaptive filter  34  are subtracted from the output signals of the delay portion  30 . Based on the signals in which the subtraction process is performed at the subtraction point  34 , the adaptive filter  32  is adjusted. The output from the adaptive filter  32  is inputted to a peak detection portion  36 . The peak detection portion  36  detects a peak (the maximum value) of adaptive filter coefficient. An arrival time difference τ supporting the peak of the adaptive filter coefficient corresponds to an arrival time difference τ supporting the arrival direction of a target sound. Accordingly, based on the arrival time difference τ that is calculated as above, the direction of the voice source  72 , in other words, the arrival direction of the target sound may be determined. 
     Indicating c [m/s] as a sound speed, d [m] as the distance between the microphones, and τ [second] as the arrival time difference, a direction θ [degree] of the voice source  72  may be expressed by a following formula (1). Meanwhile, the sound speed c is approximately 340 [m/s]. 
       θ=(180/τ)arccos(τ· c/d )  (1)
 
       FIG. 8A  is a view illustrating an adaptive filter coefficient.  FIG. 8B  is a view of a direction angle of the voice source.  FIG. 8C  is a view of the amplitude of the sound signal. In  FIG. 8A , a part in which the adaptive filter coefficient comes to be a peak is applied with hatching pattern.  FIG. 8B  illustrates the direction of the voice source  72  determined based on the arrival time difference τ.  FIG. 8C  illustrates the amplitude of the voice signal. Furthermore,  FIGS. 8A to 8C  illustrate a case where the operator and the passenger speak alternately. Here, the direction of the voice source  72   a  in a case where the driver speaks corresponds to α1. The direction of the voice source  72   b  in a case where the passenger speaks corresponds to α2. 
     As illustrated in  FIG. 8A , the arrival time difference τ may be detected based on the peak of the adaptive filter coefficient w(t, τ). In a case where the driver speaks, the arrival time difference τ corresponding to the peak of the adaptive filter coefficient corresponds to, for example, approximately −t1. Then, in a case where the direction angle of the voice source  72   a  is determined based on the arrival time difference τ, the direction angle of the voice source  72   a  is determined as, for example, α1. Meanwhile, in a case where the passenger speaks, the arrival time difference τ corresponding to the peak of the adaptive filter coefficient corresponds to, for example, t2. In addition, in a case where the direction angle of the voice source  72   b  is determined based on the arrival time difference τ, the direction angle of the voice source  72   b  is determined to be, for example, approximately α2. Furthermore, here, an example in which the driver is disposed at the direction angle of α1, and the passenger is disposed at α2 is explained, however, is not limited thereto. Even in a case where the voice source  72  is disposed at the near field, or even in a case where the voice source  72  is disposed at the far field, the position of the voice source  72  may be specified based on the arrival time difference τ. However, in a case where the voice source  72  is disposed at the near field, since, as described above, three or more microphones  22  are required, the process load for determining the direction of the voice source  72  increases. 
     The output signal of the voice source direction determination portion  16 , in other words, the signal indicating the direction of the voice source  72  is inputted to the adaptive algorithm determination portion  18 . The adaptive algorithm determination portion  18  determines the adaptive algorithm based on the direction of the voice source  72 . The signals indicating the adaptive algorithm determined by the adaptive algorithm determination portion  18  is inputted to the processing portion  12  from the adaptive algorithm determination portion  18 . 
     The processing portion  12  performs an adaptive beamforming that serves as a signal process forming a directivity adaptively (an adaptive beamformer). For example, a Frost beamformer may be used as a beamformer. The beamforming is not limited to the Frost beamformer, and may appropriately adapt various beamformers. The processing portion  12  performs the beamforming based on the adaptive algorithm determined by the adaptive algorithm determination portion  18 . In the embodiment, performing beamforming is to decrease the sensitivity other than the arrival direction of the target sound while securing the sensitivity relative to the arrival direction of the target sound. The target sound is, for example, the voice generated by the driver. Because the driver may move his/her upper body in a state of being seated on the driver seat  40 , the position of the voice source  72   a  may change. The arrival direction of the target sound changes in response to the change of the position of the sound source  72   a . It is favorable that sensitivity other than the arrival direction of the target sound is securely decreased in order to perform the favorable voice recognition. Thus, in the embodiment, the beamformer is sequentially updated in order to suppress the voice from the direction range other than the direction range including the direction based on the direction of the voice source  72  determined as above. 
       FIG. 9  is a view schematically illustrating the directivity of the beamformer.  FIG. 9  conceptually illustrates the directivity of the beamformer in a case where the voice source  72   a  that should be a target of the voice recognition is disposed at the driver seat  40 . The hatching pattern in  FIG. 9  shows the direction range where the arrival sound is suppressed (restrained, reduced). As illustrated in  FIG. 9 , the sound arriving from the direction range that is other than the direction range including the direction of the driver seat  40  is suppressed. 
     In a case where the voice source  72   b  that should be a target of the voice recognition is displaced at the passenger seat  44 , the sound arriving from the direction range that is other than the direction range including the direction of the passenger seat  44  may be suppressed. 
       FIG. 10  is a view illustrating the algorithm of the beamformer. The sound reception signals obtained by the microphones  22   a  to  22   c  are inputted to window function/fast Fourier transform processing portions  48   a  to  48   c , respectively, provided in the processing portion  12 , via the preprocessing portion  10  (see  FIG. 2 ). The window function/fast Fourier transform processing portions  48   a  to  48   c  perform the window function process and the fast Fourier transform process. In the embodiment, why the window function process and the fast Fourier transform process are performed is because the calculation in the frequency range is faster than the calculation in the time range. An output signal X 1, k  of the window function/fast Fourier transform processing portion  48   a  and a weight tensor W 1, k *  of the beamformer are multiplied at a multiplication point  50   a . An output signal X 2, k  of the window function/fast Fourier transform processing portion  48   b  and a weight tensor W 2, k *  of the beamformer are multiplied at a multiplication point  50   b . An output signal X 3, k  of the window function/fast Fourier transform processing portion  48   c  and a weight tensor W 3, k *  of the beamformer are multiplied at a multiplication point  50   c . The signals in which the multiplication process is performed at the multiplication points  50   a  to  50   c  are summed at a summing point  52 . A signal Y k  in which summation process is operated at the summing point  52  is inputted to a reverse fast Fourier transform/a superposition summation processing portion  54  being provided within the processing portion  12 . The reverse fast Fourier transform/a superposition summation processing portion  54  operates a process by the reverse fast Fourier transform process and a superposition summation (OverLap-Add or OLA) method. By performing the process by the superposition summation method, the signal in the frequency range is returned to the signal of the time range. The signals in which the reverse fast Fourier transform process and the superposition summation method are operated are inputted to the postprocessing portion  14  from the reverse fast Fourier transform/the superposition summation processing portion  54 . 
       FIG. 11  is a view illustrating a directivity (an angle characteristic) gained by the beamformer. A lateral axis indicates a direction angle and a longitudinal axis indicates an output signal power. As shown in  FIG. 11 , output signal power comes to be an ultrasmall at, for example, a direction angle β1 and a direction angle β2. Sufficient suppression is performed between the direction angle β 1  and the direction angle β 2 . By using the beamformer that includes the directivity as shown in  FIG. 11 , the sound arriving from the passenger seat may be sufficiently suppressed. Meanwhile, the voice arriving from the driver seat arrives at the microphones  22  almost without being suppressed. 
     In the embodiment, in a case where the sound arriving from the direction range other than the direction range including the direction of the voice source  72  is greater than the voice arriving from the voice source  72 , the determination of the direction of the voice source  72  is cancelled (a voice source direction determination cancellation process). For example, in a case where the beamformer is set so as to obtain the voice from the driver, and in a case where the voice from the passenger is larger than the voice from the driver, the estimation of the direction of the voice source is cancelled. In this case, the sound reception signal obtained by the microphones  22  is sufficiently suppressed.  FIG. 12  is a view illustrating a directivity (an angle characteristic) in a case where the beamformer and the voice source direction determination cancellation process are combined. A solid line shows the directivity of the beamformer. An one-dotted chain line shows the angle characteristic of the voice source direction determination cancellation process. For example, a voice arriving from a direction smaller than γ1, or, for example, a voice arriving from a direction lager than γ 2 , is larger than the voice from the driver, the voice source direction determination cancellation process is operated. Furthermore, here, a case where the beamformer is set to obtain the voice from the driver, however, the beamformer may be set to obtain the voice from the passenger. In this case, in a case where the voice from the driver is larger than the voice from the passenger, the estimation of the determination of the direction of the voice source is cancelled. 
       FIG. 13  is a graph illustrating a directivity gained by the beamformer in a case where the two microphones are used. The lateral axis indicates a direction angle and the longitudinal axis indicates the output signal power. Because the two microphones  22  are used, an angle that comes to be an ultrasmall value is only at a point. As illustrated in  FIG. 13 , a strong suppression is available at, for example, the direction angle β 1 , however, the robustness against the change of the direction of the voice source  72  is not so high. 
     As such, the signal in which the sound arrives from the direction range other than the direction range including the direction of the voice source  72  is outputted from the processing portion  12 . The output signal from the processing portion  12  is inputted to the postprocessing portion  14 . 
     The noise is removed at the postprocessing portion (a postprocessing application filter)  14 . The noise may be, for example, an engine noise, a road noise, and a wind noise.  FIG. 14  is a view illustrating an algorithm of the removal of the noise. A fundamental wave determination portion  56  provided in a noise model determination portion  20  determines a fundamental wave of the noise. The fundamental wave determination portion  56  outputs a sine wave based on the fundamental wave of the noise. The sine wave outputted from the fundamental wave determination portion  56  is inputted to a modeling processing portion  58  provided in the noise model determination portion  20 . The modeling processing portion  58  includes a nonlinear mapping processing portion  60 , a linear filter  62 , and a nonlinear mapping processing portion  64 . The modeling processing portion  58  performs a modeling process by a Hammerstein-Wiener nonlinear model. The modeling processing portion  58  is provided with the nonlinear mapping processing portion  60 , the linear filter  62 , and the nonlinear mapping processing portion  64 . The modeling processing portion  58  generates a reference noise signal by performing the modeling process with respect to the sine wave outputted from the fundamental wave determination portion  56 . The reference noise signal outputted from the modeling processing portion  58  corresponds to a reference signal for removing the noise from the signal including the noise. The reference noise signal is inputted to a noise removal processing portion  66  provided in the postprocessing portion  14 . The noise removal processing portion  66  is inputted with a signal including a noise from the processing portion  12 . The noise removal processing portion  66  removes the noise from the signal including the noise by the algorithm of the Normalized Least-Mean Square by using the reference noise signal. The noise removal processing portion  66  outputs the signal from which the noise is removed. 
       FIG. 15  is a view illustrating a signal wave before and after the removal of the noise. A lateral axis indicates a time and a longitudinal axis indicates an amplitude. A signal having a color of gray indicates a state before the removal of the noise. A signal having a color of black indicates a state after the removal of the noise. As seen from  FIG. 15 , the noise is securely removed. 
     The postprocessing portion  14  also performs a torsion reduction process. Meanwhile, not only the postprocessing portion  14  performs the noise reduction. A series of process performed by the preprocessing portion  10 , the processing portion  12 , and the postprocessing portion  14  removes the noise reduction relative to the sound obtained via the microphones  22 . 
     As such, the signal in which the postprocessing is performed by the postprocessing portion  14  is outputted to the automatic voice recognition device which is not illustrated as a voice output. A favorable target sound in which the sound other than the target sound is suppressed is inputted to the automatic voice recognition device, and thus the automatic voice recognition device may enhance the precision of the voice recognition. Based on the voice recognition result by the automatic voice recognition device, for example, the device mounted on the vehicle is automatically operated. 
     Next, the operation of the voice processing device according to the embodiment will be explained with reference to  FIG. 17 .  FIG. 17  is a flowchart illustrating the operation of the voice processing device of the embodiment. 
     First, the power supply of the voice processing device is turned ON (Step  1 ). 
     Next, the passenger calls to the voice processing device (Step  2 ). The voice processing starts in response to the call. Here, for example, a case where the driver calls to the voice processing device will be explained as an example. Meanwhile, the driver does not have to call to the voice processing device. For example, the passenger may call to the voice processing device. In addition, the call may be a specific word, or may be merely a voice. 
     Next, the direction of the voice source  72  from which the call is provided is determined (Step S 3 ). As described above, for example, the voice source direction determination portion  16  determines the direction of the voice source  72 . 
     Next, the directivity of the beamformer is set in response to the direction of the voice source  72  (Step S 4 ). As described above, the adaptive algorithm determination portion  18  and the processing portion  12 , for example, set the directivity of the beamformer. 
     In a case where the sound arriving from the direction range other than a predetermined direction range including the direction of the voice source  72  is equal to or larger than the voice arriving from the voice source  72  (YES in Step S 5 ), the voice source direction determination portion  16  cancels the determination of the voice source  72  (Step S 6 ). 
     On the other hand, in a case where the sound arriving from the direction range other than the predetermined direction range including the direction of the voice source  72  is not equal to or larger than the voice arriving from the voice source  72  (NO in Step S 5 ), the voice source direction determination portion  16  repeatedly performs Steps S 3  and S 4 . 
     As such, the beamformer is adaptively set in response to the change of the position of the voice source  72 , and the sound other than the target sound is securely suppressed. 
     As such, according to the embodiment, in a case where the voice source  72  is disposed at the near field, the voice source direction determination portion  16  may highly precisely determine the direction of the voice source  72  even in a case where the voice source  72  is disposed at the near field since the voice is handled as the spherical wave. Since the direction of the voice source  72  may be highly precisely determined, according to the embodiment, the sound other than the target sound may securely be restrained. Furthermore, in a case where the voice source  72  is disposed at the far field, the process load for determining the direction of the voice source  72  may be reduced because the voice source direction determination portion  16  determines the direction of the voice source  72  by handling the voice as a plane wave. Accordingly, according to the embodiment, the favorable voice processing device that may enhance the certainty of the voice recognition may be provided. 
     In addition, according to the embodiment, the music removal processing portion  24  removing the music included in the sound reception signal is provided, and thus the favorable voice recognition may be performed even in a case where the vehicle-mounted audio device  84  plays the music. 
     In addition, according to the embodiment, the noise removal processing portion  66  removing the noise included in the sound reception signal is provided, and thus the favorable voice recognition may be performed even when the vehicle runs. 
     Modified Embodiment 
     Various modifications are available other than the above-described embodiment. 
     For example, according to the aforementioned embodiment, the case where the three microphones  22  are used has been explained, however, the number of the microphones  22  is not limited to three, and may be equal to or greater than four. More microphones  22  are used, higher precisely the direction of the voice source  72  may be determined. 
     According to the aforementioned embodiment, a case where the output of the voice processing device of the embodiment is inputted to the automatic voice recognition device, that is, a case where the output of the voice processing device of the embodiment is used for the voice recognition, has been explained, however, is not limited thereto. The output of the voice processing device of the embodiment does not have to be used for the automatic voice recognition. For example, the voice processing device of the embodiment may be applied to the voice processing for a conversation over telephone. Specifically, by using the voice processing device of the embodiment, a sound other than a target sound may be suppressed, and the favorable sound may be sent. In a case where the voice processing device of the embodiment is applied to the conversation over telephone, the conversation with a favorable voice may be achieved. 
     This application claims priority to Japanese Patent Application 2014-263918, filed on Dec. 26, 2014, the entire content of which is incorporated herein by reference to be a part of this application. 
     EXPLANATION OF REFERENCE NUMERALS 
       22 ,  22   a  to  22   c : microphone,  40 : driver seat,  42 : dash board,  44 : passenger seat,  46 : vehicle body,  72 ,  72   a ,  72   b : voice source,  76 : speaker,  78 : steering wheel,  80 : engine,  82 : outside noise source,  84 : vehicle-mounted audio device