Vehicle and method for controlling thereof

A method for controlling a vehicle, the method comprising:

• detecting, by a sensor an object moving in front of the vehicle;
• determining, by a controller, a longitudinal driving time taken for the vehicle to drive to the object;
• determining, by the controller, an overlap ratio of the object moving across a driving lane of the vehicle based on the longitudinal driving time of the vehicle and a transverse moving time of the object;
• transmitting, by the controller, a deceleration avoidance control signal configured to gradually reduce a driving speed of the vehicle so that the vehicle stops before colliding with the object or a cross avoidance control signal configured to stop the vehicle until the object escapes from the driving lane of the vehicle, based on the longitudinal driving time and the transverse moving time of the object;
• and
• regulating the driving speed of the vehicle in response to the transmitted control signal,
• wherein the transmitting of the deceleration avoidance control signal or the cross avoidance control signal transmits one of the deceleration avoidance control signal and the cross avoidance control signal based on the overlap ratio,
• wherein the overlap ratio is a ratio of a transverse moving distance of the object in the driving lane to a width of the driving lane.