Vehicle and control method thereof

A vehicle comprising:

• a camera obtaining a surrounding image around the vehicle;
• and
• a controller connected to the camera and configured to determine spatial recognition data by learning the surrounding image of the vehicle as an input value of the controller,
• wherein controller is configured to determine object recognition data including wheel area data of a surrounding vehicle around the vehicle by learning the surrounding image of the vehicle as an input value of the controller, to determine a ground clearance between a bottom surface of a vehicle body of the surrounding vehicle and a ground by use of the spatial recognition data and the wheel area data, and to control the vehicle to park the vehicle according to the determined ground clearance, and
• wherein the controller is configured to apply the ground clearance to a remaining area excluding a wheel area of the surrounding vehicle.