Disclosed is a vehicle capable of efficiently managing a battery. The vehicle includes the battery, a battery sensor configured to sense an output voltage and an output current of the battery, and a power management device configured to control charging of the battery based on a state of charge (SoC) of the battery. The power management device may calculate an estimated SoC of the battery based on the output current of the battery, calculate an actual SoC based on the output of a battery model corresponding to an input of the output voltage and the output current, and based on an error between the actual SoC and the estimated SoC, activate a power generation control, which controls a generator based on the SoC of the battery, and an idle stop & go (ISG), which turns off an engine during stopping of the vehicle.