Vehicle and method of controlling the same

A vehicle comprising:

• a camera configured to capture an outside of the vehicle;
• a radar configured to detect an object outside of the vehicle;
• and
• a controller configured to:
• acquire a virtual path of the vehicle based on image data from the camera and radar data from the radar,
• perform forward collision-avoidance braking based on a time for the object to intersect the virtual path of the vehicle, and
• block, based on a traveling straightness of the vehicle being less than a certain level, a forward collision-avoidance assist (FCA) function from being performed,
• wherein the controller is configured to, based on (i) a lane line being detected, (ii) the object intersecting a lane being detected while the vehicle travels at a center of the lane between lane lines, and (iii) a time for the object to intersect the lane of the vehicle being less than or equal to a certain time and being maintained for greater than or equal to a preset second time, increase an amount of braking of a braking device.