In an embodiment, a vehicle includes a plurality of sensors for obtaining surrounding environment information including a nearby object information or a road information. A processor is in operative connection with the plurality of sensors. The processor is configured to predict a position change of a nearby object based on the surrounding environment information, and determine one among a plurality of avoidance behavior types for avoiding collision in a lane as an avoidance behavior type of the vehicle based on the predicted position change of the nearby object, wherein the plurality of avoidance behavior types comprises an evasive steering to right (ESR) type, an evasive steering to left (ESL) type, or a decelerating (DEC) type.