First you would need drivers for your CD rom drive. If your Pioneer CD Rom follows the standards of CD-Rom drive technologies (sometimes not the case with very old drives) then you can use any generic cd-rom driver.
Make a Windows 98 boot disk. If you boot with that and it actually starts up your CD-Rom, then you will be fine. All you would then require is a dos program that can play audio CDs.
If the Windows 98 boot disk doesn't detect your CD-Rom, then go try poking around on www.pioneerusa.com