Vehicle and control method thereof

A vehicle comprising:

• an imaging device configured to capture an image and acquire location information of a pedestrian appearing in the image;
• a controller configured to generate a control signal for generating sound outputs that can cause constructive interference in a direction toward where the pedestrian is located and destructive interference in other directions based on the acquired location information of the pedestrian when the pedestrian is located within a predetermined distance from the vehicle;
• and
• a speaker array configured to generate sound outputs based on the control signal such that a warning sound is amplified in the direction toward where the pedestrian is located by the constructive interference and the warning sound is lessened in other directions by the destructive interference,
• wherein the controller is configured to:
• determine pedestrian distribution density of an area based on the location information of the plurality of pedestrians acquired by the imaging device,
• control the warning sound to the area such that a warning sound to an area having a higher pedestrian distribution density has a higher intensity than a warning sound to an area having a lower pedestrian distribution density, and
• control the warning sound to the area such that a warning sound to an area having a higher pedestrian distribution density is output to a wider range than a warning sound to an area having a lower pedestrian distribution density.