A vehicle and a method for controlling the same are provided. In particular, the wheels of the vehicle wheels are controlled based on a possibility of collision between the vehicle and an object located in a peripheral region of the vehicle to minimize influence caused by the collision while simultaneously ensuring driving safety. The method includes estimating whether there is a high possibility of collision between the vehicle and the detected object. When the high possibility of collision between the vehicle and the object is estimated the wheels of the vehicle are operated based on a situation of the estimated collision to ensure driving stability of the vehicle during an actual collision between the vehicle and the object.