A vehicle (100; 200; 402; 500) comprising: a speaker (130; 206; 208) positioned in an interior of the vehicle; a microphone positioned on an exterior of the vehicle, wherein the microphone outputs an audio signal indicative of a first sound (122; 308; 310) that is emitted by a noise source (120; 304; 306) and that is incident on the microphone; a first sensor (102; 104; 202) in the interior of the vehicle configured to output first data indicative of positions of objects in the interior of the vehicle; a second sensor (102; 104; 204) configured to output second data indicative of positions of objects in a driving environment (101; 300) of the vehicle; and a computing system configured to perform the following acts: identifying, based upon the first data output by the first sensor, a position of a head of a passenger (406; 408; 410) of the vehicle; computing a location of the noise source in the driving environment based upon the second data output by the second sensor; computing a complementary signal based upon the position of the head of the passenger, the position of the noise source, and the audio signal, wherein further the complementary signal is computed based upon a propagation model (210; 214), the propagation model indicative of a change in the first sound emitted by the noise source as the first sound travels from the location of the noise source to the position of the head of the passenger; and outputting the complementary signal to the speaker, wherein the complementary signal is configured to cause the speaker to emit a second sound that causes the first sound to be attenuated in the interior of the vehicle. a speaker (130; 206; 208) positioned in an interior of the vehicle; a microphone positioned on an exterior of the vehicle, wherein the microphone outputs an audio signal indicative of a first sound (122; 308; 310) that is emitted by a noise source (120; 304; 306) and that is incident on the microphone; a first sensor (102; 104; 202) in the interior of the vehicle configured to output first data indicative of positions of objects in the interior of the vehicle; a second sensor (102; 104; 204) configured to output second data indicative of positions of objects in a driving environment (101; 300) of the vehicle; and a computing system configured to perform the following acts: identifying, based upon the first data output by the first sensor, a position of a head of a passenger (406; 408; 410) of the vehicle; computing a location of the noise source in the driving environment based upon the second data output by the second sensor; computing a complementary signal based upon the position of the head of the passenger, the position of the noise source, and the audio signal, wherein further the complementary signal is computed based upon a propagation model (210; 214), the propagation model indicative of a change in the first sound emitted by the noise source as the first sound travels from the location of the noise source to the position of the head of the passenger; and identifying, based upon the first data output by the first sensor, a position of a head of a passenger (406; 408; 410) of the vehicle; computing a location of the noise source in the driving environment based upon the second data output by the second sensor; computing a complementary signal based upon the position of the head of the passenger, the position of the noise source, and the audio signal, wherein further the complementary signal is computed based upon a propagation model (210; 214), the propagation model indicative of a change in the first sound emitted by the noise source as the first sound travels from the location of the noise source to the position of the head of the passenger; and outputting the complementary signal to the speaker, wherein the complementary signal is configured to cause the speaker to emit a second sound that causes the first sound to be attenuated in the interior of the vehicle. <EOS>