A vehicle of outputting a sound using a difference between a human's audible frequency and a pet's audible frequency, and a method of controlling the vehicle are provided. The vehicle includes a sound processor that is configured to tune and mix a sound and a sound controller that is configured to determine a sound being output as one of a first sound having a frequency within a human's audible frequency range and a second sound having a frequency beyond the human's audible frequency range. When a command for reproducing another sound other than the determined sound is received, the sound processor is configured to mix the determined sound with the other sound corresponding to the command and a speaker is then configured to output the mixed sound.