Vehicle and method for performing inter-vehicle distance control

A method of controlling a vehicle comprising:

• obtaining, by a capturer, height information of a preceding vehicle;
• obtaining, by a sensor, at least one of position information or speed information of the preceding vehicle and a leading vehicle that is in front of the preceding vehicle;
• determining, by a controller, a first distance between the preceding vehicle and a subject vehicle that is behind the preceding vehicle;
• determining, by the controller, a second distance between the preceding vehicle and the leading vehicle, based on height information of a subject vehicle, the first distance, and the height information of the preceding vehicle;
• determining, by the controller, an acceleration of the preceding vehicle based on a relative speed and a relative distance of the preceding vehicle and the leading vehicle;
• and
• when the second distance is less than or equal to a collision prediction distance between the preceding vehicle and the leading vehicle and the acceleration of the preceding vehicle is less than a predetermined value, controlling, by the controller, at least one of braking or steering of the subject vehicle.