A vehicular voice recognition system for inferring an intention of a user includes: a storage storing an instruction use history, service use pattern information, and a service preferring item; a controller receiving an input instruction of the user and performing at least one of: a first inference operation of determining a service domain among a plurality of service domains corresponding to the input instruction and providing a service in the determined service domain, a second inference operation of providing a service based on the stored instruction use history, a third inference operation of providing a service based on the stored service use pattern information, and a fourth inference operation of providing a service based on the stored service preferring item; and an output unit provided in a vehicle outputting contents of the provided service using at least one of audio and images.