The vehicle includes: a plurality of vehicle antennas configured to receive a plurality of signals, respectively, from a remote control device; and a vehicle controller configured to: i) calculate an arrival distance between each of the plurality of vehicle antennas and the remote control device based on an arrival time of the plurality of signals received by the plurality of vehicle antennas, ii) extract an initial arrival pulse signal having a first reference value or higher from among at least one pulse signal contained in each of the plurality of signals, iii) extract at least one valid signal having a maximum value corresponding to a second reference value or higher from among the plurality of signals received by the plurality of vehicle antennas, iv) calculate an arrival distance of an initial arrival pulse signal contained in the at least one valid signal, and v) estimate a position of the remote control device based on the arrival distance.