A method of controlling the vehicle includes determining whether a section to be driven is a turn section; in response to determining that the section to be driven is the turn section, generating a turn path; generating a first risk of collision region based on the generated turn path; predicting a position of an obstacle based on obstacle information detected by an obstacle detector and driving information detected by a driving information detector; generating a second risk of collision region based on the predicted position of the obstacle; based on image information obtained from an imager, determining whether the obstacle exists in the first and second risk of collision regions, respectively; adjusting a risk level based on the presence or absence of the obstacle in the first and second risk of collision regions; and performing a collision avoidance control corresponding to the adjusted risk level.