A system including circuitry communicably coupled to a plurality of sensors and a plurality of audio output devices are provided. The circuitry receives a plurality of signals from the plurality of sensors. The circuitry further detects a type of a first object and a position of the first object with respect to a first vehicle based on the received plurality of signals. The circuitry further generates metadata associated with the first object based on the detected type of the first object and the position of the first object. The metadata comprises a first three-dimensional (3D) audio object. The circuitry further controls a first set of audio output devices of the plurality of audio output devices to output the first 3D audio object in a 3D space of the first vehicle at a first time instant.