Audio processing methods for immersive audio playback

Abstract

A method (1000) for generating at least two audio channels from audio in an immersive audio format including at least one height audio channel (1010) and at least two non-height audio channels (1050, 1100) and reproducing the at least two audio channels using a non-immersive speaker system of at least two audio speakers (1, 2) in a vehicle, comprising: applying (1500) a virtual height filter (1300) to the height channel (1010) such that, when the height channel is reproduced by one of the speakers, a virtual height filtered audio signal (1175) is generated by attenuating spectral components of the height channel that emanate directly from the speakers (1; 2) and amplifying spectral components of the height channel that are reflected from a roof or an area close to the roof of the vehicle, and mixing (1700) the virtual height filtered audio signal with at least one of the two non-height audio channels.

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims the priority of the following priority applications: U.S. Provisional Application No. 63 / 291,598 (Reference No.: D21147AUSP1) filed on December 20, 2021, U.S. Provisional Application No. 63 / 353,778 (Reference No.: D21147AUSP2) filed on June 20, 2022, and EP Application No. EP22179943.0 (Reference No.: D21147AEP) filed on June 20, 2022.

[0002] The present disclosure relates to the field of audio processing. In particular, the present disclosure relates to a method of generating at least two audio channels from an audio of an immersive audio format and playing the at least two audio channels using a (non - immersive) speaker system. The present disclosure further relates to an apparatus comprising a processor configured to execute the method, a vehicle comprising the apparatus, a program, and a computer - readable storage medium.

Background Art

[0003] Vehicles typically have speaker systems for audio playback. These speaker systems can be used to play audio from sources such as tapes, CDs, audio streaming services, or applications running remotely via the vehicle's in-car entertainment system or a device connected to the vehicle. The device may be, for example, a portable device connected to the vehicle wirelessly or via cable. More recently, streaming services such as Spotify and Tidal are either directly integrated into the vehicle's hardware (commonly known as the "head unit") or integrated into the in-car entertainment system via a smartphone using Bluetooth, Apple CarPlay, or Android Auto. Vehicle speaker systems may also be used for playing terrestrial and / or satellite radio. Conventional vehicle speaker systems are stereo speaker systems. A stereo speaker system may include a total of four speakers: a front pair and a rear pair, for front and rear passengers, respectively. More recently, however, with the introduction of DVD players in vehicles, surround speaker systems supporting DVD audio format playback have been introduced. Figure 1 shows the interior of vehicle 100. Vehicle 100 has a surround speaker system including speakers 10, 11, 30, 31, 41, 42, and 43. The speakers are shown only on the left side of vehicle 100. Corresponding speakers may be symmetrically arranged on the right side of vehicle 100. In particular, the surround speaker system in Figure 1 includes a pair of tweeter speakers 41, 42, and 43, a pair of full-range front speakers 30 and rear speakers 31, a center speaker 10, and a low-frequency effects speaker or subwoofer 11. Tweeter speaker 41 is located near the vehicle's dashboard. Tweeter speaker 42 is mounted low on the front side pillar of vehicle 100.However, not only the tweeter speakers 41, 42, and 43, but also the full-range front speakers 30 and rear speakers 31 can be placed in any position suitable for a particular implementation.

[0004] Immersive audio is becoming mainstream in movie theaters and home listening environments. Given its growing popularity in theaters and homes, it's natural to assume that immersive audio will also be played in cars. Dolby Atmos Music is already available on various streaming services. Immersive audio is often distinguished from surround audio formats by its inclusion of overhead or height audio channels. Therefore, overhead or height loudspeakers are used for immersive audio playback. While luxury cars may feature such overhead or height speakers, most conventional vehicles use stereo speaker systems or more advanced surround speaker systems, as shown in Figure 1. In fact, height speakers dramatically increase the complexity of a vehicle's speaker system. Height speakers need to be installed on the roof of a vehicle, which is usually unsuitable for this purpose. For example, vehicles typically have low roofs, limiting the height at which height speakers can be installed. Furthermore, vehicles are often sold with the option of a sunroof (a window on the roof that opens), making it industrially difficult to install height speakers on the roof. Additionally, such height speakers may require additional audio cables. For these reasons, integrating height speakers into a vehicle can be costly due to space and industrial design constraints. [Overview of the project]

[0005] It would be advantageous to play immersive audio content on non-immersive speaker systems, such as stereo speaker systems or surround speaker systems. In the context of this disclosure, “non-immersive speaker system” means a speaker / speaker system having at least two speakers but no overhead speakers (i.e., not having them), i.e., no height speakers.

[0006] Playing immersive audio content on a non-immersive speaker system to enhance the user's audio experience without the need for overhead speakers would be advantageous in creating a sense of pitch (height).

[0007] One aspect of the present disclosure provides a method for generating at least two audio channels from audio in an immersive audio format comprising at least one height audio channel and at least two non-height audio channels, and for playing the at least two audio channels using a non-immersive speaker system of at least two audio speakers in a vehicle (or any listening environment). The method includes applying a virtual height filter to at least one height channel. The virtual height filter is configured to at least partially attenuate the spectral components of the at least one height channel that are directly emitted from the speaker from which the height channel is being played when the at least one audio height channel is played by one of the at least two speakers. The virtual height filter is also configured to generate at least one virtual height-filtered audio signal by at least partially amplifying the spectral components of the at least one height channel that are reflected from the roof or an area close to the roof in the vehicle. The method further includes generating the at least two audio channels by mixing the at least one virtual height-filtered audio signal with at least one of the two non-height audio channels.

[0008] In the context of this disclosure, the term “channel” means not only an audio signal but also optionally metadata whose position is encoded as a channel identifier (e.g., left front or right top surround). “Channel-based audio” means audio formatted to be played back through a predefined set of speaker zones (e.g., 5.1, 7.1, etc.), where these sets of speaker zones have associated nominal positions. The term “object” or “object-based audio” means one or more audio channels having a parametric source description, such as apparent source position (e.g., 3D coordinates) or apparent source width.

[0009] When a height channel is played from at least one of two speakers without filtering, the sound may be radiated along different paths. Some sound may be radiated along a direct path from the speaker to the listening position (e.g., the ears of passengers or the driver), while other sounds may be radiated from the speaker to the listening position via a reflected path. For example, some sound may be reflected from the roof or an area near the roof inside the vehicle, and therefore radiated from the roof or an area near the roof to the listening position. When a height channel is played, sound radiated along a direct path is undesirable. By applying a virtual height filter to at least one height channel, the spectral components of the height channel reflected from the roof or near the roof are amplified, and the spectral components of the height channel directly emitted to the speaker are attenuated. The method configured as described above improves the localization and perceived quality of the virtual height signal by compensating for undesirable direct sound and introducing perceptual height cues into the audio signal supplied to at least one of the two speakers. For example, a directional auditory model has been developed to create a virtual height filter, which, when used to process audio played by at least two speakers, improves the perceived quality of playback.

[0010] In one embodiment, the audio of the immersive audio format may further include at least two additional non-height audio channels. The virtual height-filtered audio signal may be mixed with one of each of the non-height audio channels to produce four audio channels.

[0011] In one embodiment, the audio of the immersive audio format may include at least two height audio channels. The virtual height filter may be applied to one of each of the at least two height audio channels to generate at least two virtual height-filtered audio signals. Each of the virtual height-filtered audio signals may be mixed with one of the at least two non-height channels.

[0012] In one embodiment, the audio of the immersive audio format may include four height audio channels and four non-height audio channels. The virtual height filter may be applied to one of each of the four height audio channels to generate four virtual height-filtered audio signals. Each of the virtual height-filtered audio signals may be mixed with one of the four non-height channels.

[0013] In one embodiment, the virtual height filter may have a filter transfer function, and the method may further include determining the filter transfer function of the virtual height filter from one or more parameters that identify the filter transfer function.

[0014] In one embodiment, the method may further include storing the one or more parameters in the processor as a lookup table or analysis function.

[0015] In one embodiment, the virtual height filter may have a filter transfer function having a peak at a first frequency and a notch at a second frequency higher than the first frequency.

[0016] In one embodiment, the at least two audio speakers are spaced laterally with respect to the listening position, and the method may further include determining a filter transfer function for the virtual height filter based on the relative distance of the at least two speakers from the listening position and the height of the roof or an area close to the roof with respect to the listening position.

[0017] In one embodiment, the at least two audio speakers are spaced laterally with respect to the listening position, and the method may further include obtaining a plurality of filter transfer functions for a plurality of virtual height filters based on a range of relative distances between the at least two speakers from the listening position and a range of heights of the roof or an area close to the roof with respect to the listening position, and selecting one filter transfer function from the plurality of filter transfer functions.

[0018] In one embodiment, the selected filter transfer function may be the average of the plurality of filter transfer functions.

[0019] In one embodiment, selecting one filter transfer function from the plurality of filter transfer functions may include selecting one or more parameters that identify the selected filter transfer function based on the average distance of the at least two speakers from the listening position and the average altitude of the roof or an area close to the roof relative to the listening position.

[0020] In one embodiment, the acquisition, selection, application, and mixing of the above method may be applied iteratively to each selected filter transfer function until the filter transfer function provides a reproduction of the at least two channels that maximizes the perception of the degree of sound.

[0021] In one embodiment, the method may further include applying a gain to the virtual height filter. In one embodiment, the gain may be user - configurable. Another aspect of the present disclosure provides an apparatus comprising a processor and a memory coupled to the processor, wherein the processor is configured to execute any of the methods described in the present disclosure.

[0022] Another aspect of the present disclosure provides a vehicle comprising such an apparatus.

[0023] Another aspect of the present disclosure further provides a program including instructions that cause a processor to execute an audio processing method when executed by the processor, and a computer - readable storage medium storing such a program.

Brief Description of the Drawings

[0024] Embodiments of the present disclosure are illustrated by way of example in the accompanying drawings and are not intended to be limiting. In the accompanying drawings, like reference numerals refer to like elements. [Figure 1] FIG. 1 schematically shows an interior view of a vehicle equipped with a speaker system arranged according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a flowchart showing an example of a method for generating at least two audio channels from audio in an immersive audio format according to an embodiment of the present disclosure. [Figure 2A] FIG. 2A schematically shows an example of a method for generating at least two audio channels from audio in an immersive audio format according to an embodiment of the present disclosure. [Figure 3] FIG. 3 schematically shows a vehicle. [Figure 4] FIG. 4 schematically shows a top view of a vehicle equipped with a speaker system arranged according to an embodiment of the present disclosure. [Figure 5] FIG. 5 schematically shows an example of a sound path in a vehicle. [Figure 6] Figure 6 schematically shows some examples of virtual height filters according to some embodiments of the present disclosure. [Figure 7] Figure 7 schematically illustrates an example of a method for generating four audio channels from audio in an immersive audio format according to one embodiment of the present disclosure. [Figure 8] Figure 8 schematically illustrates an example of a method for generating two audio channels from audio in an immersive audio format according to one embodiment of the present disclosure. [Figure 9] Figure 9 schematically illustrates an example of a method for generating four audio channels from audio in an immersive audio format according to one embodiment of the present disclosure. [Figure 10] Figure 10 schematically illustrates an example of a method for generating six audio channels from audio in an immersive audio format according to one embodiment of the present disclosure. [Figure 10A] Figure 10A schematically shows an example of a method for generating eight audio channels from audio in an immersive audio format according to one embodiment of the present disclosure. [Figure 11] Figure 11 is a schematic diagram showing an example of an apparatus for carrying out the method according to the embodiments of this disclosure. [Modes for carrying out the invention]

[0025] Numerous specific details are provided below to provide a complete understanding of this disclosure. However, this disclosure may be implemented without these specific details. Also, well-known parts may be explained without being overly detailed. Figures are schematic and include parts relevant to understanding this disclosure, while other parts may be omitted or merely suggested.

[0026] Figure 2 is a flowchart illustrating an example of a method 1000 for generating at least two audio channels from audio in an immersive audio format, according to one embodiment of the present disclosure. The audio in the immersive audio format comprises at least one height channel and at least two non-height channels. Method 1000 may be used to play the generated at least two audio channels in a non-immersive speaker system of at least two audio speakers in a vehicle. The vehicle may be any type of passenger or non-passenger vehicle used, for example, for commercial purposes or for transporting goods. The examples provided in the present disclosure assume that the playback of the generated at least two audio channels is performed in a vehicle. However, the generated at least two audio channels may be played in any other type of listening environment suitable for a particular implementation, such as a closed or partially closed listening environment (e.g., a room).

[0027] As an example, referring to Figure 3, a vehicle 3000 (a four-seater car in this example) is schematically depicted. For simplicity, the speaker arrangement is not shown in Figure 3, but it is shown in the more detailed interior view of vehicle 100 in Figure 1. The passenger car 3000 has four seats 3110, 3120, 3130, and 3140. When considering the speaker system shown in Figure 1, for speakers 30, 31, 41, 42, and 43, the corresponding speakers (not shown) will be located on the right side of vehicle 3000. Referring to Figure 3, the group of speakers on the left side of vehicle 3000 and the respective corresponding group of speakers on the right side of vehicle 3000 are arranged symmetrically with respect to a central axis 3150 that crosses the center of vehicle 3000 along its length. It is understood that each of seats 3110, 3120, 3130, and 3140, and therefore the potential listeners located there, may be out of symmetry with respect to any set of speakers consisting of speakers 30, 31, 41, 42, and 43 (not shown in Figure 3) and their respective corresponding speakers on the right side of the vehicle (also not shown in Figure 3). For example, a driver seated in driver's seat 3110 would be out of symmetry with respect to speakers 30, 41, and 42 and the corresponding right-side speaker (not shown). The driver would be closer to speakers 30, 41, and 42 than to the corresponding speaker on the right side of vehicle 3000. In Figures 1 and 3, the driver's seat is shown on the left side of vehicle 3000 (left side relative to the forward direction of driving). However, it is understood that the location of the driver's seat in a vehicle may vary by region. For example, in the UK, Australia, or Japan, the driver's seat is located on the right side of the vehicle relative to the forward direction of driving.

[0028] Non-immersive speaker systems can be, for example, stereo speaker systems or surround speaker systems, as shown with reference to Figure 1.

[0029] In one embodiment, the audio of the immersive audio format may be audio rendered in the immersive audio format.

[0030] An immersive audio format (e.g., rendered) of audio may include at least one height channel. In one embodiment, the immersive audio format may be an object-based audio format that supports elevation, such as the Dolby Atmos format. In another embodiment, the immersive audio format may be a channel-based audio format that supports elevation, such as the XYZ audio format, where X≧2 is the number of front or surround audio channels, Y≧0 is the low-frequency effect or subwoofer audio channel, if present, and Z≧1 is at least one height audio channel. In one embodiment, an object-based audio format (e.g., one that supports elevation) may be rendered or pre-rendered to a corresponding channel-based audio format to generate a set of speaker feeds corresponding to a set of channels in the channel-based audio format. The speaker system shown in Figure 1 is a typical 5.1 speaker system for playing 5.1 audio, comprising five front or surround speakers, two left audio speakers (e.g., left and left surround), two right audio speakers (e.g., right and right surround), a center speaker, and one LFE speaker. The two left audio speakers correspond to speakers 30, 31 (for midrange or full-range frequencies), 41, 42, and 43 (for high-range frequencies). The center speaker corresponds to speaker 10. The LFE speaker corresponds to speaker 11.

[0031] Referring to Figure 4, for example, a schematic top view of another exemplary vehicle 4000 is shown. The vehicle 4000 may be a 6- or 7-seater vehicle with seats distributed in three different rows. The vehicle 4000 may be, for example, an SUV (Sport Utility Vehicle) or a minibus. The vehicle 4000 has six seats 4110, 4120, 4130, 4140, 4150 and 4160. A typical 7.1 speaker system may be implemented in the vehicle 4000. The speaker system shown in Figure 4 has three left speakers 4210, 4230 and 4250 (e.g., left and two left surround) and three right speakers 4220, 4240 and 4260 (e.g., right and two right surround), a center speaker 4270, and an LFE speaker 4280.

[0032] The method schematically shown in Figure 2 will be explained with reference to Figure 2A.

[0033] Referring to Figure 2A, the audio of the immersive audio format may include non-height channels 1050 and 1100 (e.g., left channel and right channel) and a height channel 1010 (a single channel in this example). The speaker system in the example in Figure 2A is a stereo speaker system with speakers 1 and 2. In this example, speakers 1 and 2 are used to play the audio of the immersive audio format on channels 1050, 1100, and 1010. Method 1000 generates two channels 1008 and 1016 from the audio of the immersive audio format, as described below. Since two channels 1008 and 1016 are generated from the three channels of the immersive audio format, it can be said that the three channels of the immersive audio format are downmixed to two channels for playback.

[0034] Referring to Figures 2 and 2A, Method 1000 includes applying a virtual height filter 1300 to a height channel 1010. The virtual height filter 1300 is configured to at least partially attenuate spectral components of the height channel 1010 that are directly emitted from either speaker 1 or 2 when the height channel 1010 is reproduced by either speaker 1 or 2. The virtual height filter 1300 is further configured to generate a virtual height-filtered audio signal 1175 by at least partially amplifying spectral components of the height channel 1010 that are reflected from the roof or a region near the roof in the vehicle. Method 1000 further includes mixing the virtual height-filtered audio signal 1175 with non-height audio channels 1050 and 1100 to generate two audio channels 1008 and 1016 for reproduction by speakers 1 and 2. Figure 2A shows that the virtual height-filtered audio signal 1175 is mixed with both non-height channels 1050 and 1100. However, the virtual height-filtered audio signal 1175 may be mixed with only one of the non-height channels 1050 and 1100. Mixing the virtual height-filtered audio signal 1175 with only one of the non-height channels 1050 or 1100 to generate two channels for playback is sufficient to create a perception of height or elevation of sound without using height / overhead speakers.

[0035] Refer to Figure 5 for further explanation. Figure 5 schematically shows example paths 5300 and 5400 for sound reproduced by speaker 5000 traveling from speaker 5000 to the listening position 5100 in the vehicle. Speaker 5000 may be any of the speakers shown, for example, with reference to the speaker systems in Figures 1 and 4. In particular, speaker 5000 may be any of the illustrated left speaker, right speaker, or surround speaker. Preferably, since height cues are typically more dominant in high-frequency signals than in low-frequency signals, speaker 5000 may be any high-frequency speaker associated with either the left, right, or surround speaker, such as the speakers (e.g., tweeters) 41, 42, and 43 shown in Figure 1. The listening position 5100 may be the ears / heads of the vehicle's passengers or driver. The sound reproduced by speaker 5000 can be radiated along a reflection path 5300, shown by a dashed line in Figure 5, and a direct path 5400, shown by a solid line in Figure 5. The reflection path 5300 is an indirect path from speaker 5000 to the listening position 5100, and is formed by the reflection of sound from a surface 5500 located above the listening position 5100. Inside a vehicle, the surface 5500 may be the roof of the vehicle or an area close to the roof of the vehicle. An area close to the roof may be the upper inner part of the front windshield or rear windshield, or the upper inner part of the side windows of the vehicle. In general, the surface 5500 may be any part inside the vehicle that is located at a higher altitude (e.g., above) than the listening position during sound reproduction. To enhance the perception of the altitude of the sound, it is desirable that the sound be radiated along the reflection path 5300. However, some of the sound from speaker 5000 travels along the direct path 5400, reducing the perception of sound coming from a position on surface 5500 where the sound is reflected towards the listening position 5100. The amount of this undesirable direct sound compared to the desired reflected sound may be a function of the directional pattern of speaker 5000. It has been found that speakers placed at approximately half the total height of the vehicle interior (e.g., roughly the height of the center of the door) improve the perception of sound altitude.

[0036] To compensate for undesirable direct sound, it has been shown that incorporating signal processing to introduce perceptual height cues into the audio signal supplied to speaker 5000 improves the localization and perceived quality of the virtual height signal. For example, a directional auditory model has been developed to create a virtual height filter, which improves the perceived quality of playback when used to process audio being played by the speaker. In one embodiment, the virtual height filter is derived from both the physical speaker position relative to the listening position and the virtual speaker position (above the listening position). For the physical speaker position, the first directional filter is determined based on a model of sound traveling directly from the speaker position to the listener's ears at the listening position. Such filters can be derived from directional auditory models, such as a database of HRTF (head-related transfer function) measurements, a parametric binaural model, a pinna model, or other similar transfer function models that utilize cues that help perceive height. Models that take the auricle model into account are generally useful because they help define how height is perceived, but the filter function is not intended to isolate the auricle effect, but rather to handle the ratio of sound levels from one direction to another. The auricle model is just one example of such a model among the available binaural hearing models, but other models can also be used.

[0037] Next, the inverse function of this filter is determined and used to remove directional cues from audio traveling directly from the physical speaker location to the listening position. Then, for a virtual speaker location, a second directional filter is determined using the same directional hearing model, based on a model of sound traveling directly from the virtual speaker location to the listener's ears at the same listening position. This filter is applied directly and provides directional cues that the ear would receive if sound were emitted from a virtual speaker location above the listening position. In practice, the first and second directional filters can be combined to enable a single filter that at least partially removes (attenuates) directional cues from the physical speaker location and at least partially inserts (amplifies) directional cues from the virtual speaker location. Such a single filter provides a frequency response curve, which is referred to herein by the terms “height filter transfer function,” “virtual height filter response curve,” “desired frequency transfer function,” “height cue response curve,” or other terms that describe a filter or filter response curve that filters (e.g., attenuates) the direct sound component from the height sound component in an audio speaker system.

[0038] Regarding the filter model, if P1 represents the frequency response in dB of a first filter that models the transmission of sound from a physical speaker location, and P2 represents the frequency response in dB of a second filter that models the transmission of sound from a virtual speaker location, then the total response PT of the virtual height filter, expressed in dB, can be given as follows: PT = α(P2 - P1), where α is a scaling factor or gain that controls the strength of the filter. At α=1, the filter is applied to its maximum extent, and at α=0, the filter does nothing (0 dB response). In practice, α can be set somewhere between 0 and 1 based on the relative balance between reflected and direct sound (e.g., α=0.5). As the level of direct sound increases compared to reflected sound, α should also increase to more completely provide a directional cue of the virtual speaker location to this undesirable direct sound path. However, α should not be so large as to impair the perceived timbre of the audio traveling through the reflected path, which already contains a good directional cue. Generally, the precise values ​​of filters P1 and P2 are functions of the azimuth angle of the physical speaker position with respect to the altitude of the listening position and the reflected speaker position. This altitude is also a function of the distance from the listening position to the physical speaker position and the difference between the height of the roof or a region near the roof (surface 5500 in Figure 5) and the height of the speaker.

[0039] Figure 6 shows exemplary curves 6200, 6300, and 6400 of virtual height filters according to several embodiments of the present disclosure. Curves 6200, 6300, and 6400 are represented in a figure with the amplitude of the virtual height filter in decibels (dB) on the vertical axis and the frequency in Hertz (Hz) on the horizontal axis.

[0040] Curves 6200, 6300, and 6400 represent the filter transfer functions of three different virtual height filters. Figure 6 shows that the filter transfer functions 6200, 6300, and 6400 of the three different filters have a peak at a first frequency of approximately 8000 Hz and a notch at a second frequency of approximately 12000 Hz, which is higher than the first frequency. However, the peak and notch may be at different frequencies. The three different transfer functions may be obtained by applying different scaling factors / different gains to the virtual height filters, as described above. In some embodiments, the gain may be user-configurable so that the user can adjust the "strength" of the virtual height filter according to a particular implementation.

[0041] In one embodiment, as shown with reference to Figure 2, the method of the present disclosure may further include determining the filter transfer function of a virtual height filter from one or more parameters that identify the filter transfer function.1800 For example, one or more parameters may indicate at least one value of the peak, peak frequency, notch, and notch frequency of the filter transfer function representing the virtual height filter. For example, the parameters may be stored in memory or in a processor containing memory, for example, as a lookup table or analysis function. These parameters may be retrieved from memory by the processor, and the processor may reconstruct the virtual height filter from there. The thus reconstructed virtual height filter can be used and applied to a height channel. By identifying the filter transfer function using one or more parameters, the processing of the height channel is simplified because the virtual height filter is described by a small number of parameters instead of being generated locally.

[0042] In one embodiment, as shown with reference to Figure 2, the method of the present disclosure may further include determining the filter transfer function of a virtual height filter based on the relative distance of at least two speakers from the listening position and the height of the roof or a region close to the roof relative to the listening position.

[0043] For example, in one embodiment, one or more sensors may be located at or near the listening position to measure the relative distance between at least two speakers from the listening position, and the altitude of the roof or a region near the roof relative to the listening position. For example, in one embodiment, such sensors may be embedded in the headrest of each seat in the vehicle at approximately the same height as the listener's head. The measurements may be performed during the initial calibration phase of the method, or they may be performed substantially in real time along with audio playback.

[0044] Alternatively, additionally, or optionally, the filter transfer function of a virtual height filter may be based on a predetermined absolute distance between one or more listening positions and each of at least two speakers, and a predetermined altitude of the roof relative to the listening positions. For example, the distance between one or more listening positions (e.g., any of the seats 3110, 3120, 3130, or 3140 in Figure 3) and a pair of stereo speakers, and the altitude of the roof, may be determined / predetermined by environmental characteristics, e.g., the interior design of the vehicle, and the speaker placement. The method of this disclosure may use this predetermined information to obtain the filter transfer function of a virtual height filter. For example, in one embodiment, step 1800 of determining the filter transfer function of a virtual height filter from one or more parameters may include accessing predetermined parameters. For example, the parameters may be acquired / measured for one vehicle of a certain type and then stored in the memory of an in-vehicle computing system for a group of vehicles of the same type. Such offline calibration has the advantage that the vehicle does not need to be equipped with sensors to measure and acquire the filter transfer function online.

[0045] Alternatively, additionally, or optionally, in embodiments shown with reference to Figure 2, Method 1000 may further include obtaining a plurality of filter transfer functions for a plurality of virtual height filters, typically prior to step 1500. The plurality of virtual height filters may be obtained based on a range of relative distances of at least two speakers from a listening position and a range of elevations of the roof or a region near the roof relative to the listening position. For example, for a plurality of different listening positions and / or a plurality of speaker positions, a range of speaker-listening position(single or multiple) distances can be measured, for example, during the calibration stage. Similarly, a range of elevations of the roof (or its virtual speaker position) can be measured, for example, during the calibration stage for a plurality of different listening positions. The Method further includes selecting one filter transfer function from the plurality of filter transfer functions, 2000. For example, in one embodiment, the selected filter transfer function may be based on the average distance of at least two speakers from a listening position and the average elevation of the roof or a region near the roof (or the virtual speaker position) relative to the listening position. In another embodiment, the selected virtual height filter (or its filter transfer function) is the average of several filter transfer functions. For example, the selected transfer function may be determined by interpolation between several filter transfer functions. In yet another embodiment, method 1000, including steps 1900 and 2000, may be applied iteratively to each filter transfer function selected in each iteration, for example, during the calibration stage, as shown in Figure 2 by a dashed line connecting steps 1700 and 1900, until the selected filter transfer function provides optimal (e.g., maximum) perception of height at one or more listening positions. In other words, method 1000, including steps 1900 and 2000, may be applied iteratively until the (selected) filter transfer function provides reproduction of at least two channels that maximize perception of height.Generally, for simpler and more effective audio processing in certain types of vehicles, a single filter transfer function may be selected that works well on average for most listening positions / speaker positions and roof or near-roof heights (or virtual speaker heights). However, the filter transfer function may also be determined adaptively in virtually real-time by sensors, for example, as described above. Adaptively determining the filter transfer function allows for more accurate determination and may improve the perception of sound height.

[0046] In one embodiment, referring to Figure 2, each filter transfer function of the multiple transfer functions obtained in step 1900 may be determined from one or more parameters stored in memory, for example, as a LUT or analysis function, as described above. When sensors are used, the method may dynamically / adaptively select the parameters of the filter transfer function for a particular vehicle type.

[0047] In one embodiment, referring to Figure 2, step 1800, which determines the filter transfer function of a virtual height filter from one or more parameters (based on predetermined distance / altitude information or actual measurements), may be triggered when the movement of a listener at one or more listening positions is detected. For example, one or more sensors can be used to detect the movement of a listener. When used inside a vehicle, such sensors may be placed, for example, at each seat in the vehicle. The one or more sensors may be configured to detect the presence of a passenger or driver in the vehicle, thereby enabling the processing method to use the correct distance information to obtain the filter transfer function.

[0048] In one embodiment, one or more seat sensors or different sets of sensors may be used to detect a new listening position, for example, a new position of the listener's head (or the position of the listener's ears). For example, a driver or passenger may adjust their seat horizontally and / or vertically for a more comfortable seating position in the vehicle. In this embodiment, the method may retrieve / acquire a virtual height filter (or its filter transfer function) in accordance with the newly detected listening position. In this way, correct information based on a correct set of distance information from a given listener to a speaker and a given roof height information (or based on actual measurements) may be used in accordance with the new listening position. For example, if a predetermined set of one or more parameters that identify the virtual height filter (or its filter transfer function) are stored as an analysis function or lookup table (LUT), then different analysis functions or different LUTs may correspond to different (e.g., detected) seats or listening positions.

[0049] As mentioned above, immersive audio formats may be different types suited to specific implementations.

[0050] For example, referring to Figure 7, the immersive audio format includes a single height channel 1010 and four non-height channels 1050, 1100, 1125, and 1150. Non-height channels 1050 and 1100 may be the left (L) and right (R) channels, respectively. Non-height channels 1125 and 1150 may be the left surround (L) channels, respectively. S ) channel and right surround (R S ) can be used as channels. Non-height channels 1050 and 1100 can be the front, middle, or rear left and right channels, respectively. Similarly, non-height channels 1125 and 1150 can be the front, middle, or rear left and right surround channels, respectively.

[0051] A virtual height filter 1300 is applied to the height channel 1010 to generate a virtual height-filtered signal 1175. The virtual height-filtered signal 1175 is mixed with one each of the non-height channels 1050, 1100, 1125, and 1150 to generate four channel signals 1008, 1016, 1032, and 1064. Channel signals 1008, 1016, 1032, and 1064 are fed to speakers 1, 2, 3, and 4 for playback. Using a single virtual height filter (or its filter transfer function) simplifies the conversion of audio from an immersive audio format into channel feed signals 1008-1064 for speakers 1-4.

[0052] In another example, referring to Figure 8, the immersive audio format includes two height channels 1010 and 1020 and two non-height channels 1050 and 1100. For example, height channels 1020 and 1010 may be the top left (TL) and top right (TL) channels. Non-height channels 1050 and 1100 may be the left (L) channel and right (R) channel, respectively. Channels 1020 and 1010 may be the top front left, top middle / center left, or top rear left and right channels, respectively. Similarly, channels 1050 and 1100 may be the front left, middle / center left, or rear left and right channels, respectively.

[0053] A virtual height filter 1300 is applied to the height channel 1010 to generate a virtual height-filtered signal 1175. A virtual height filter 1400 is applied to the height channel 1020 to generate a virtual height-filtered signal 1200. The virtual height filter 1300 may be the same as the virtual height filter 1400. Using a single height filter for all height channels simplifies audio processing and requires less processing power. However, in some embodiments, the virtual height filter 1300 may differ from the virtual height filter 1400. For example, the virtual height filter 1300 may be optimized for the right channel. For example, the filter transfer function of the virtual height filter 1300 may be selected to maximize the perception of height in the right channel. Similarly, the virtual height filter 1400 may be optimized for the left channel. For example, the filter transfer function of the virtual height filter 1400 may be selected to maximize the perception of height in the left channel. Generally, adapting a virtual height filter to different channels improves the perception of sound height at the listening position associated with each channel (left and right in this example).

[0054] The virtual height-filtered signal 1175 is mixed with the non-height channel 1100 to generate the channel signal 1017 supplied to speaker 2. The virtual height-filtered signal 1200 is mixed with the non-height channel 1050 to generate the channel signal 1009 supplied to speaker 1. In this way, by playing channels (signals) 1009 and 1017 through speakers 1 and 2, respectively, the perception of height of sound can be improved.

[0055] In another example, referring to Figure 9, the immersive audio format includes four non-height channels 1050, 1100, 1125, and 1150, and four height channels 1010, 1020, 1030, and 1040. Non-height channels 1050 and 1100 may be the left (L) channel and right (R) channel, respectively. Non-height channels 1125 and 1150 may be the left surround (L) channel, respectively. S ) channel and right surround (R S ) can be channels. Non-height channels 1050 and 1100 can be front left, middle / center left, or rear left and right channels, respectively. Similarly, non-height channels 1125 and 1150 can be front surround left, middle / center surround left, or rear surround left and right surround channels, respectively. Height channels 1020 and 1010 may be top front left (TFL) and top front right (TFR) channels. Height channels 1040 and 1030 may be top rear right (TRR) and top rear left (TRL) channels. A virtual height filter 1300 is applied to height channel 1010 to generate a virtual height-filtered signal 1175. A virtual height filter 1400 is applied to height channel 1020 to generate a virtual height-filtered signal 1200. A virtual height filter 2500 is applied to height channel 1030 to generate a virtual height-filtered signal 1225. A virtual height filter 2600 is applied to the height channel 1040 to generate a virtual height-filtered signal 1250. The virtual height filters 1300, 1400, 2500, and 2600 may be the same or different, as illustrated with reference to the example in Figure 8.

[0056] The virtual height-filtered signal 1175 is mixed with the non-height channel 1100 to generate channel signal 1018 supplied to speaker 2. The virtual height-filtered signal 1200 is mixed with the non-height channel 1050 to generate channel signal 1011 supplied to speaker 1. The virtual height-filtered signal 1225 is mixed with the non-height channel 1125 to generate channel signal 1033 supplied to speaker 3. The virtual height-filtered signal 1250 is mixed with the non-height channel 1150 to generate channel signal 1063 supplied to speaker 4.

[0057] Therefore, by playing channels (channel signals) 1011, 1018, 1033, and 1063 with speakers 1-4 respectively, the perception of sound can be improved.

[0058] As illustrated in the examples in Figures 2A and 7-9, the number of channels used for playback is generally less than the number of channels in the immersive audio format. Therefore, it can be said that the channels in the immersive audio format are downmixed into the playback channels.

[0059] Any other suitable immersive audio format and / or speaker configuration can be assumed to be appropriate for a particular implementation.

[0060] For example, in addition to the channels in the embodiments shown with reference to Figures 7-9, the audio of an immersive audio format may also include a center (C) channel and / or a low-frequency effect (LFE) channel (not shown in any of Figures 7-9). As mentioned above, since height cues are typically more dominant in high-frequency signals than in low-frequency signals, the center channel and / or LFE channel, if present, are typically not mixed with the filtered height channel.

[0061] In some embodiments (not shown), if a center channel is present, the center channel may be mixed with the front left channel and the front right channel. In such embodiments, the mixing of filtered height channels (one or more) and non-height audio channels (one or more) (i.e., the front left channel and / or front right channel) may be performed after the front left channel and the front right channel have been mixed with the center channel.

[0062] As shown in Figure 4, similar considerations can be applied to speaker configurations including middle left (ML) and middle right (MR) speakers 4230 and 4240. Regardless of the speaker configuration used, it is advantageous for all speakers in the system to remain active during playback of the generated channel.

[0063] Figure 10 schematically illustrates an example of a method for generating six audio channels (i.e., audio of the 5.1 audio format) from audio of an immersive audio format according to one embodiment of the present disclosure. The output of the 5.1 audio format is suitable, for example, for the speaker system shown in Figure 1. The input audio format is, for example, 5.1.4. In this case, as described above, the pre-mixing 500 may be used to mix, for example, the front left, front right, and center channels. However, the pre-mixing 500 may be enabled or disabled as appropriate depending on the specific implementation. When the pre-mixing 500 is enabled, the four filtered height channels of the input audio 5.1.4 may be mixed in block 600 with four non-height channels as follows: The two non-height front left and front right channels, mixed with the center channel, are then mixed with filtered, for example, TFL and TFR. The two non-height LS and RS are directly mixed with TRL and TRR. If the pre-mixing stage 500 is disabled, in block 600, the four filtered height channels may be mixed directly with the four input non-height channels (i.e., they are not mixed with the center channel). In this example, the center channel signal is not mixed and is supplied directly to the center speaker 10 in Figure 1. Similarly, in this example, the LFE channel is not mixed and is supplied directly to the LFE speaker 11 in Figure 1. The channels produced by mixing with the height channels are supplied to the corresponding front and rear speakers, as described with reference to the example in Figure 9.

[0064] Figure 10A schematically illustrates an example of a method for generating eight audio channels (i.e., audio in the 7.1 audio format) from audio in an immersive audio format according to one embodiment of the present disclosure. The output of the 7.1 audio format is suitable for, for example, the speaker system shown in Figure 4.

[0065] In this example, an additional mid-stage mixing 700 may be used to obtain an audio output in 7.1 audio format in order to keep all speakers of the speaker system in Figure 4 active.

[0066] This process is the same as described with reference to Figure 10 and will not be repeated here. At the output of block 600, the audio output becomes the 5.1 audio format, as described with reference to Figure 10. An additional mid-stage mixing block 700 supplies the audio to all speakers of the speaker system shown in Figure 4 by converting it from the 5.1 to the 7.1 audio format. In a practical implementation, the pre-mixing 500 and mid-mixing 700 are always implemented in the vehicle / processor or device and may be enabled / disabled as needed depending on the specific speaker system configuration and / or pre-mixing requirements.

[0067] In some embodiments, non-height channels, such as the front left and front right channels, and / or the rear left and rear right channels, are processed before being mixed with the corresponding virtual filtered height channels. For example, the front left and front right channels, and / or the rear left and rear right channels, may be processed to compensate for off-center listening positions for passengers / drivers in a vehicle. Compensation for off-center listening positions can be performed using the algorithm described in EP1994795B1, which is incorporated herein by reference in its entirety. EP1994795B1 demonstrates that it is possible to simultaneously "virtually center" two off-center listening positions from the same pair of (stereo) speakers. This is the same principle as reducing the interaural phase difference (IDP) of one listening position. In the case of two listening positions, the phase difference of the IDPs obtained for each of the two listening positions is simultaneously reduced so that each IDP at each listening position has a value in the desired frequency range between -90 and 90 degrees. By compensating for off-center listening positions and mixing the filtered height channels with the corresponding compensated front and / or rear non-height channels, panning of the height channel content across the front and / or rear speakers can be prevented.

[0068] (Example of a computing device) A method for generating at least two audio channels from audio in an immersive audio format and for generating the at least two audio channels using a non-immersive speaker system of at least two audio speakers has been described. Furthermore, the disclosure also relates to apparatus for carrying out these methods. Furthermore, the disclosure relates to a vehicle which may include apparatus for carrying out these methods. An example of such apparatus 1440 is schematically shown in Figure 11. Apparatus 1440 may include a processor 1410 (e.g., a central processing unit (CPU), an image processing unit (GPU), a digital signal processor (DSP), one or more application-specific integrated circuits (ASICs), one or more high-frequency integrated circuits (RFICs), or any combination thereof) and a memory 1420 coupled to the processor 1410. Memory 1420 may store, for example, one or more analysis functions (or sets of) or one or more lookup tables (or sets of) that represent one or more parameters that identify the filter transfer function of a virtual height filter for different listening positions and / or roof heights and / or different vehicles. The processor may be configured to perform some or all of the methods described through this disclosure, for example, by retrieving the set of analysis functions and / or LTUs from Memory 1420. To perform a method for generating at least two audio channels, the device 1440 may receive as input channels of audio (e.g., rendered) in an immersive audio format, such as a height channel and one or more front or surround audio channels 1425. In this case, the device 1440 may output two or more channel signals 1430 for playback of the channel signals in a non-immersive speaker system.

[0069] Device 1440 may be a server computer, client computer, personal computer (PC), tablet PC, set-top box (STB), personal digital assistant (PDA), mobile phone, smartphone, web appliance, network router, switch, bridge, or any device capable of executing instructions (whether sequential or not) that specify actions to be performed by such device. Furthermore, although only a single device 1440 is illustrated in Figure 11, this disclosure relates to any collection of devices that individually or collectively execute instructions that perform one or more of the methodologies discussed herein.

[0070] This disclosure further relates to a program (e.g., a computer program) that, when executed by a processor, causes the processor to perform some or all of the actions described herein.

[0071] Furthermore, this disclosure relates to a computer-readable (or machine-readable) storage medium storing the aforementioned program. The term “computer-readable storage medium” includes, but is not limited to, data repositories in the form of, for example, solid memory, optical media, and magnetic media.

[0072] The embodiments described herein can be implemented in hardware, software, firmware, or combinations thereof. For example, the embodiments can be implemented on a system consisting of electronic circuits and components, such as a computer system. Examples of computer systems include desktop computer systems, portable computer systems (e.g., laptops), handheld devices (e.g., smartphones or tablets), and networking devices. A system for implementing an embodiment may consist of at least one of the following: integrated circuits (ICs), programmable logic devices (PLDs) such as field-programmable gate arrays (FPGAs), digital signal processors (DSPs), application-specific integrated circuits (ASICs), central processing units (CPUs), and graphics processing units (GPUs).

[0073] Certain implementations of the embodiments described herein may include a computer program product that, when executed by a data processing system, causes the data processing system to perform any of the methods of the embodiments described herein. The computer program product may consist of a non-temporary medium storing the instructions, such as a magnetic data storage medium including a floppy disk or a hard disk drive, an optical data storage medium including a CD-ROM or a DVD, an electronic data storage medium including a ROM, or a physical medium including flash memory including flash RAM or a USB flash drive. In another example, the computer program product comprises a data stream containing the instructions, or a file containing the instructions stored in a distributed computing system, such as one or more data centers.

[0074] This disclosure is not limited to the embodiments and examples described above. Numerous modifications and variations are possible without departing from the scope of this disclosure as defined by the appended claims.

[0075] Various aspects of the present invention can be understood from the following enumerated example embodiments (A-EEE and B-EEE):

[0076] A-EEE1. A method for generating a discrete channel from an immersive bitstream, Identifying one or more height channels and one or more non-height channels of the immersive bitstream, Processing one or more of the height channels using a virtual height filter and a non-standard mixing technique, Mixing the processed height channels with the one or more non-height channels, Methods that include...

[0077] B-EEE1. A method (1000) for generating at least two audio channels from audio in an immersive audio format including at least one height audio channel (1010) and at least two non-height audio channels (1050, 1100), and for playing the at least two audio channels using a non-immersive speaker system of at least two audio speakers (1, 2) in a vehicle, -When the at least one audio height channel is reproduced by one of the at least two speakers, a virtual height filter (1300) is applied to the at least one height channel (1010) (1500) to generate at least one virtual height filtered audio signal (1175) by at least partially attenuating the spectral components of the at least one height channel (1010) that are directly emitted from the speaker (1, 2), and at least partially amplifying the spectral components of the at least one height channel that are reflected from the roof of the vehicle or an area close to the roof, and - The at least one virtual height-filtered audio signal (1175) is mixed with at least one of the two non-height audio channels (1700) to generate the at least two audio channels (1008, 1016), Methods that include...

[0078] B-EEE2. The method according to B-EEE1 (1000), wherein the audio of the immersive audio format further includes at least two additional non-height audio channels (1125, 1150), and the virtual height-filtered audio signal (1175) is mixed with one of each of the non-height audio channels (1050, 1100, 1125, 1150) to produce four audio channels (1008, 1016, 1032, 1064).

[0079] B-EEE3. The method according to any of the preceding B-EEEs, wherein the audio of the immersive audio format comprises at least two height audio channels (1010, 1020), the virtual height filter (1300, 1400) is applied to one of each of the at least two height audio channels (1010, 1020) to generate at least two virtual height-filtered audio signals (1175, 1200), and one of the virtual height-filtered audio signals (1175, 1200) is mixed with one of the at least two non-height channels (1100, 1050).

[0080] B-EEE4. The audio of the immersive audio format includes four height audio channels (1010, 1020, 1030, 1040) and four non-height audio channels (1050, 1100, 1125, 1150), and the virtual height filters (1300, 1400, 2500, 2600) of the four height audio channels (1010, 1020, 1030, 1040). The method according to any one of the preceding B-EEEs, wherein applying it to each one generates four virtual height-filtered audio signals (1175, 1200, 1225, 1250), and one of the virtual height-filtered audio signals (1175, 1200, 1225, 1250) is mixed with one of the four non-height channels (1100, 1050, 1125, 1150).

[0081] B-EEE5. The method according to any one of the preceding B-EEEs, wherein the non-immersive speaker system is a stereo or surround speaker system.

[0082] B-EEE6. The method according to any one of the preceding B-EEEs, wherein the virtual height filter has a filter transfer function, and the method further comprises determining the filter transfer function of the virtual height filter from one or more parameters that identify the filter transfer function.

[0083] B-EEE7. The method according to any one of the preceding B-EEEs, wherein the virtual height filter has a filter transfer function having a peak at a first frequency and a notch at a second frequency higher than the first frequency.

[0084] B-EEE8. The method according to B-EEE6 and 7, wherein the one or more parameters represent at least one value among the peak, first frequency, notch, and second frequency of the filter transfer function.

[0085] B-EEE9. The method according to any one of the preceding B-EEEs, wherein the at least two audio speakers (1, 2) are spaced laterally apart with respect to the listening position.

[0086] B-EEE10. The method according to B-EEE9, further comprising determining a filter transfer function for the virtual height filter based on the relative distance of the at least two speakers from the listening position and the height of the roof or an area close to the roof relative to the listening position (1800).

[0087] B-EEE11. Based on the range of relative distances between the at least two speakers from the listening position and the range of altitudes of the roof or an area close to the roof relative to the listening position, a plurality of filter transfer functions for a plurality of virtual height filters is obtained (1900), The method according to B-EEE9, further comprising selecting one filter transfer function from the aforementioned plurality of filter transfer functions (2000).

[0088] B-EEE12. The method according to B-EEE11, wherein the selected filter transfer function is the average of the plurality of filter transfer functions.

[0089] B-EEE13. The method according to B-EEE11, which is subject to any of E-EEE6 to 8, wherein selecting one filter transfer function from a plurality of filter transfer functions includes selecting one or more parameters that identify the selected filter transfer function based on the average distance of the at least two speakers from the listening position and the average altitude of the roof or an area close to the roof relative to the listening position.

[0090] B-EEE14. The method according to any one of B-EEE11 to 13, wherein the steps of acquiring (1900), selecting (2000), applying (1500), and mixing (1700) are applied iteratively to each selected filter transfer function until the filter transfer function provides reproduction of the at least two channels that maximize the perception of the degree of sound.

[0091] B-EEE15. The method according to any one of B-EEE6 to B-14, further comprising storing the one or more parameters in the processor as a lookup table or analysis function.

[0092] B-EEE16. The method according to any one of the preceding B-EEEs, further comprising applying the gain to the virtual height filter.

[0093] B-EEE17. The gain is user-configurable, as described in B-EEE16.

[0094] B-EEE18. The method according to any one of the preceding B-EEEs, wherein the audio of the immersive audio format is audio rendered in the immersive audio format and / or the immersive audio format is Dolby Atmos, or any XYZ audio format such that X≧2 is the number of front or surround audio channels, Y≧0 is a low-frequency effect or subwoofer audio channel, if present, and Z≧1 is the at least one height audio channel.

[0095] A device configured to perform the methods of B-EEE19.B-EEE1~18.

[0096] B-EEE20. A vehicle having a speaker system of at least two audio speakers (1, 2), further comprising the device described in B-EEE19.

[0097] B-EEE21. A program that, when executed by a processor, includes instructions that cause the processor to perform any of the methods described in B-EEE1 to B-18.

[0098] A computer-readable storage medium containing the programs described in B-EEE22 and B-EEE21.

Claims

1. A method for generating at least two audio channels from audio in an immersive audio format including at least one height audio channel and at least two non-height audio channels, and for playing the at least two audio channels using a non-immersive speaker system of at least two audio speakers in a vehicle, - Applying a virtual height filter to the at least one height audio channel such that, when the at least one height audio channel is played by one of the at least two audio speakers, it at least partially attenuates spectral components of the at least one height audio channel that are perceived to travel directly from the audio speaker to the listening position without being reflected, and at least partially amplifies spectral components of the at least one height audio channel that are perceived to travel from the audio speaker to the listening position reflected from the roof or an area close to the roof in the vehicle, thereby generating at least one virtual height-filtered audio signal; - To generate the at least two audio channels by mixing the at least one virtual height-filtered audio signal with at least one of the two non-height audio channels, Methods that include...

2. The method according to claim 1, wherein the audio of the immersive audio format further comprises at least two additional non-height audio channels, and the virtual height-filtered audio signal is mixed with each of the non-height audio channels to produce four audio channels.

3. The method according to claim 1, wherein the audio of the immersive audio format includes at least two height audio channels, the virtual height filter is applied to one of each of the at least two height audio channels to generate at least two virtual height filtered audio signals, and each of the virtual height filtered audio signals is mixed with one of the at least two non-height audio channels.

4. The audio of the immersive audio format includes four height audio channels and four non-height audio channels, the virtual height filter is applied to one of each of the four height audio channels to generate four virtual height-filtered audio signals, and each of the virtual height-filtered audio signals is mixed with one of the four non-height audio channels. The method according to claim 1.

5. The method according to claim 1, wherein the non-immersive speaker system is a stereo or surround speaker system.

6. The method according to claim 1, wherein the virtual height filter has a filter transfer function, and the method further comprises determining the filter transfer function of the virtual height filter from one or more parameters that identify the filter transfer function.

7. The method according to claim 1, wherein the virtual height filter has a filter transfer function having a peak at a first frequency and a notch at a second frequency higher than the first frequency.

8. The method according to claim 6, wherein the one or more parameters represent at least one value among the peak of the filter transfer function, the first frequency of the peak, the notch, and the second frequency of the notch.

9. The method according to claim 1, wherein the at least two audio speakers are spaced laterally relative to the listening position.

10. The method according to claim 9, further comprising determining a filter transfer function for the virtual height filter based on the relative distance of the at least two audio speakers from the listening position and the height of the roof or an area close to the roof relative to the listening position.

11. The method according to claim 9, further comprising: obtaining a plurality of filter transfer functions for a plurality of virtual height filters based on a range of relative distances between the at least two audio speakers from the listening position and a range of altitudes between the roof or an area close to the roof and the listening position; and selecting one filter transfer function from the plurality of filter transfer functions.

12. The method according to claim 11, wherein the selected filter transfer function is the average of the plurality of filter transfer functions.

13. The method according to claim 11, wherein selecting one filter transfer function from the plurality of filter transfer functions includes selecting one or more parameters that identify the selected filter transfer function based on the average distance of the at least two audio speakers from the listening position and the average altitude of the roof or an area close to the roof relative to the listening position.

14. The method according to claim 11, wherein the steps of acquiring, selecting, applying, and mixing are applied iteratively to each selected filter transfer function until the filter transfer function provides playback of the at least two audio channels that maximize the perception of the degree of sound.

15. The method according to claim 6, further comprising storing one or more of the parameters in the processor as a lookup table or analysis function.

16. The method according to claim 1, further comprising applying a gain or a user-configurable gain to the virtual height filter.

17. The method according to claim 1, wherein the audio of the immersive audio format is audio rendered in the immersive audio format, and / or the immersive audio format is Dolby Atmos, or any X.Y.Z audio format such that X≧2 is the number of front or surround audio channels, Y≧0 is a low-frequency or subwoofer audio channel, if present, and Z≧1 is the at least one height audio channel.

18. An apparatus configured to perform the method according to any one of claims 1 to 17.

19. A vehicle having a speaker system of at least two audio speakers, further comprising the device described in claim 18.

20. A program that, when executed by a processor, includes instructions causing the processor to perform the method according to any one of claims 1 to 17.

21. A computer-readable storage medium storing the program described in claim 20.

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