Vehicle and a method for controlling thereof

A vehicle comprising:

• an interface configured to receive data from a sensor;
• and
• a processor configured to be communicatively or electrically connected to the interface,
• wherein the processor is configured to:
• identify a front object positioned on a same lane as the vehicle based on the data received through the interface,
• determine whether one or more objects are present on both side lanes of the vehicle based on the data received through the interface in response to identification of the front object, wherein the processor is configured to determine whether a road edge object or a general obstacle is present on at least one of the both side lanes of the vehicle,
• determine a safety zone for the vehicle based on physical quantity information of the vehicle and the front object, when the one or more objects are present on both side lanes of the vehicle,
• determine whether steering for avoiding collision with the one or more objects on the both side lanes of the vehicle based on the determined safety zone, wherein the processor is configured to:
• determine a first collision between the safety zone and the front object based on four first straight lines of edges of the safety zone and four second straight lines of edges of an object box indicating the front object,
• determine a second collision between the safety zone and the road edge object based on the four first straight lines and a third straight line connecting points of the road edge object, and
• determine whether steering for avoiding collision is possible based on a result of determining whether the first collision occurs and a result of determining whether the second collision occurs,
• determine a braking control time of the vehicle based on the determination of whether steering for avoiding collision is possible, and
• output a control signal to enable a braking control of the vehicle at the braking control time.