Generating audio driving signals for the production of simultaneous stereo sound stages

A method of generating audio driving signals based on a two-channel stereo audio signal, for use in driving upward-firing transducers, is disclosed. The method comprises: receiving a two-channel stereo audio signal; generating a left audio signal, a right audio signal, and a centre audio signal based on the two-channel stereo audio signal, wherein the left and right audio signals are not positively correlated; generating a first audio signal and a second audio signal based on the left and right audio signals, providing a left audio driving signal for driving an upward-firing left transducer, wherein the left audio driving signal is derived from a summation of the first audio signal and the centre audio signal; and providing a right audio driving signal for driving an upward-firing right transducer, wherein the right audio driving signal is derived from a summation of the second audio signal and the centre audio signal. Embodiments are directed towards it's use in a vehicle, such as car. Preferably where the transducers (speakers) are located between the passenger and driver.