A vehicle that performs a lane departure warning or lane keeping assistance by reflecting a driver's stress index to more effectively guarantee safe driving, and a method of controlling the same are provided. The vehicle includes a biological signal detecting unit configured to detect a biological signal of a driver and a lane detecting unit configured to detect a lane within which a vehicle is running. A controller is configured to calculate a stress index of the driver based on the detected biological signal of the driver, determine a lane access degree of the vehicle based on the detected lane, and execute a warning output to the driver based on the calculated stress index and the determined lane access degree of the vehicle.