A vehicle may a capturer configured to capture an object around the vehicle to detect the object, a detector configured to obtain at least one of position information and speed information related to the object, and a controller configured to determine a collision avoidance control area for the object based on the at least one of position information and speed information related to the object, change the determined collision avoidance control area based on information related to a surrounding condition of a road on which the vehicle is being driven, and change at least one of time to send a signal to warn of a collision with the object and an amount of braking of the vehicle based on the changed collision avoidance control area.