A device configured for controlling a vehicle includes a navigation for receiving a Global Navigation Satellite system (GNSS) signal to determine at least one location of the vehicle, storage for storing a map including a plurality of road links, and a controller that determines whether the vehicle has entered a parking lot based on a result of determining whether a first location of the vehicle is connected to the road link based on the map and a result of determining whether a road link connected to a second location of the vehicle immediately before the first location among the plurality of links is connected to a parking lot entry/exit point, and controls an air conditioner in an internal air mode when it is determined that the vehicle has entered the parking lot, providing a pleasant environment to a driver and a passenger.