A vehicle and a method for controlling the vehicle are provided. In particular, the vehicle includes an imaging device that is configured to acquire an image of a cargo loaded onto the vehicle and a display unit that is configured to display the image of the cargo acquired by the imaging device. Additionally, a processor is then configured to calculate a height of the cargo when the cargo displayed on the display unit is selected, and calculate a total height that is a sum of the height of the cargo and a height of the vehicle. Accordingly, the processor determines whether the vehicle is capable of safely passing through a detected height limit facility without the risk of a potential collision with the cargo.