S vehicle control apparatus that includes a touch panel configured to be touched by a user and a sound wave generator. The sound wave generator including a plurality of patterns formed in different shapes and heights on the touch panel, and is configured to generate sound waves having unique shapes when the user touches the patterns. A sound wave detection sensor is configured to detect the sound waves generated by the sound wave generator. A controller is configured to receive the sound waves detected by the sound wave detection sensor and output vehicle control signals corresponding to the respective sound waves.