Autonomous rail rapid transit (ART) is a new type of multiunit, articulated, rubber-wheeled urban transport system. The noise sources of ART have significant time-varying characteristics. It is unsuitable to track the error signal by installing too many error sensors, which poses a significant challenge in the active noise control of ART. Thus, this paper proposes a convolutional fuzzy neural network-based active noise cancellation approach without error sensors to solve this problem. The proposed approach utilizes convolutional neural network (CNN) to extract the noise signal characteristics of ART and trains multiple noise source signals using a CNN to estimate the virtual error signal in the target area. In addition, the proposed approach adopts fuzzy neural network (FNN) for adaptive adjustment of filter weight coefficients to achieve real-time noise tracking control with fast convergence and small error in the convergence process. The experimental results demonstrate that the proposed approach can effectively reduce ART low-frequency noise without error sensors, and the average sound pressure level in the target area is reduced more compared with conventional approaches.