Disclosed is a vehicle, and an apparatus and method for controlling the vehicle. The vehicle includes a line information obtainer configured to obtain information regarding a line; a vehicle controller configured to determine whether the vehicle is moving out of a lane based on the information regarding the line, and to determine a level of danger that indicates an extent of danger to the vehicle while the vehicle is changing the lane, based on at least one of a condition around the vehicle or a behavior of the vehicle while the vehicle is moving out of the lane; and a warning unit configured to provide different levels of alert to a driver based on the level of danger.