Vehicle and control method thereof

A vehicle comprising:

• an imaging device configured to capture an image of a pedestrian and process the image to acquire location information of the pedestrian;
• a controller configured to predict a movement route of the pedestrian based on the acquired location information of the pedestrian and further configured to generate a control signal for generating sound outputs that can cause constructive interference in a direction toward a predicted location to which the pedestrian is moving and can further cause destructive interference in other directions based on the predicted movement route of the pedestrian;
• and
• a speaker array configured to generate sound outputs based on the control signal, wherein the control signal is configured to generate the sound outputs to cause amplification of a warning sound in the direction toward the predicted location by the constructive interference and further to cause lessening of the warning sound in other directions by the destructive interference,
• wherein, when there are a plurality of pedestrians, the control signal is configured to generate the sound outputs for producing the warning sound to the plurality of pedestrians at the same time by the constructive interference for amplifying the warning sound in the direction toward the predicted location for each of the plurality of pedestrians and by the destructive interference for lessening the warning sound in other directions based on the predicted movement route of each of the plurality of pedestrians,
• 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.