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Audio frequency is frequency which can be heard by human or animals. Its range is 4k hz to 20khz. All humans and animal which have audible sound have frequency of voice in this range. The voice, which have more or less frequency than this range it can’t be heard.
In telecommunication transmission is done in high frequencies for fast transmission. These messages or data is then converted to audible frequency for hearing. As like television when its data is transmitted, it is in high frequency but when television set receive and decodes the data and convert it to visible and audible messages. it produces audible message in range these frequencies. So it is called audio frequency.