A system for synthesizing engine sound in a cabin of a vehicle comprising: a sound synthesizer configured to generate a synthesized engine noise audio signal output including a plurality of engine orders; a synthesizer output mixer, including a first channel configured to mix the output of the sound synthesizer in accordance with first settings to provide a first channel output, and a second channel configured to mix the output of the sound synthesizer in accordance with second settings to provide a second channel output; first and second localization filter sets (204-A, 204-B), each configured to utilize phase and delay operations to focus sound on a respective subarea when outputs of the respective first and second localization filter sets are applied to loudspeakers, the first localization filter set (204-A) configured to provide a first localized output to localize the first channel output as a first sound image at a first location, the second localization filter set (204-B) configured to provide a second localized output to localize the second channel output as a second sound image at a second location; and a mixer configured to combine the first localized output and the second localized output into loudspeaker outputs to be applied to the loudspeakers to generate the first and second sound images; wherein the sound synthesizer is further configured to receive engine data from a powertrain of the vehicle to generate the synthesized engine noise audio signal, wherein the engine data includes one or more of engine revolutions per minute, RPM, a signal derived from a pressure or vibration sensor that is mounted in proximity to a powertrain of the vehicle or an emissions system of the vehicle, and a signal that represents current vibroacoustic emissions of the powertrain of the vehicle, and wherein the sound synthesizer is further configured to provide a plurality of separate outputs for each of the plurality of engine orders, the first settings include a first set of gain levels to be applied to each of the plurality of separate outputs to provide the first channel output, and the second settings include a second set of gain levels to be applied to each of the plurality of separate outputs to provide the second channel output. a sound synthesizer configured to generate a synthesized engine noise audio signal output including a plurality of engine orders; a synthesizer output mixer, including a first channel configured to mix the output of the sound synthesizer in accordance with first settings to provide a first channel output, and a second channel configured to mix the output of the sound synthesizer in accordance with second settings to provide a second channel output; first and second localization filter sets (204-A, 204-B), each configured to utilize phase and delay operations to focus sound on a respective subarea when outputs of the respective first and second localization filter sets are applied to loudspeakers, the first localization filter set (204-A) configured to provide a first localized output to localize the first channel output as a first sound image at a first location, the second localization filter set (204-B) configured to provide a second localized output to localize the second channel output as a second sound image at a second location; and a mixer configured to combine the first localized output and the second localized output into loudspeaker outputs to be applied to the loudspeakers to generate the first and second sound images; wherein the sound synthesizer is further configured to receive engine data from a powertrain of the vehicle to generate the synthesized engine noise audio signal, wherein the engine data includes one or more of engine revolutions per minute, RPM, a signal derived from a pressure or vibration sensor that is mounted in proximity to a powertrain of the vehicle or an emissions system of the vehicle, and a signal that represents current vibroacoustic emissions of the powertrain of the vehicle, and wherein the sound synthesizer is further configured to provide a plurality of separate outputs for each of the plurality of engine orders, the first settings include a first set of gain levels to be applied to each of the plurality of separate outputs to provide the first channel output, and the second settings include a second set of gain levels to be applied to each of the plurality of separate outputs to provide the second channel output.