The invention relates to a system for identifying the driving intention of a surrounding vehicle and a controlling method thereof. A vehicle includes: a navigation device configured to receive position information of the vehicle; a communicator configured to receive a detailed map of a road; a sensor configured to detect an obstacle in the vicinity of the vehicle; and a controller configured to detect at least one adjacent vehicle when the vehicle is located near an intersection, and configured to identify a driving intention of the adjacent vehicle by matching a route of the detected adjacentvehicle with the detailed map of the road.