Embodiments of the present disclosure can determine whether a subject vehicle is in a blind spot of a next-lane vehicle on the basis of the result of sensing a next-lane vehicle and the result of detecting the length of the next-lane vehicle using a plurality of side sensors that senses objects in front-cross, central side, and rear-cross areas of the subject vehicle, and can control the subject vehicle to drive while avoiding the blind spot of the next-lane vehicle, so it can help safe driving.