A vehicle includes: a communication device configured to receive information about a turn angle of an intersection at which the vehicle travels; an image sensor configured to photograph a reflector installed at the intersection to acquire an image of a target vehicle reflected in the reflector; and a controller configured to determine whether the target vehicle approaches the intersection, based on a change in position of the target vehicle on the image of the target vehicle, to decide an installation angle of the reflector based on the turn angle of the intersection, and to determine a position of the target vehicle reflected in the reflector based on the installation angle of the reflector.