A vehicle may include a vehicle detector configured to detect an obstacle and a condition of the inside and the outside of the vehicle; and a controller, when a front obstacle is detected by the vehicle detector, configured to determine a required braking distance or a time to collision (TTC) with respect to the obstacle, configured to determine whether a door side collision with the obstacle is estimated, when a collision with the obstacle is estimated according to the result of the determination, and configured to open a door in emergency or convert the door into a manual opening mode when the door side collision is estimated.