A frequency detecting circuit estimates the frequency fp of a propeller shaft based on the frequency fc of vehicle speed pulses, and calculates a control frequency fp′ which is a harmonic of the frequency fp. A basic signal generator generates a basic cosine wave signal xp1 and a basic sine wave signal xp2 of the control frequency fp′. Adaptive filters and an adder generate a control signal Scp for canceling a driveline noise produced in a passenger compartment by the propeller shaft. A speaker outputs a canceling sound based on the control signal Scp into the passenger compartment.