A vehicle according to an embodiment of the present invention may comprise: a microphone; a plurality of speakers; a memory for storing a sound field table including corresponding relationship between filter set values, virtual sound items, and boarding items; and a processor for receiving a sound signal via the microphone, determining a first filter set value matched to characteristics of the received sound signal, by using the sound field table, and controlling outputs of the plurality of speakers so as to output sound according to the determined first set value.