Apparatus for predicting risk of collision of vehicle and method of controlling the same

A vehicle comprising:

• a detector configured to detect a position of the vehicle and a first distance between the vehicle and a surrounding vehicle;
• and
• a controller configured to:
• calculate, using the position of the vehicle and first lane width information of a first lane in which the vehicle drives, a distance between the vehicle and a left line of the first lane and a distance between the vehicle and a right line of the first lane,
• calculate, using a position of the surrounding vehicle and second lane width information of a second lane in which the surrounding vehicle drives, a distance between the surrounding vehicle and a left line of the second lane and a distance between the vehicle and a right line of the second lane,
• calculate a second distance between the vehicle and the surrounding vehicle based on the calculated distances between the vehicle and at least one of the left and right lines of the first lane, respectively, and the calculated distances between the surrounding vehicle and at least one of the left and right lines of the second lane, respectively, added to the first distance, and
• predict a risk of collision between the vehicle and the surrounding vehicle based on the second distance.