Vehicle and method for collision avoidance assistance

A method of controlling a vehicle, comprising:

• obtaining, by a rear camera, an image of an object behind a vehicle which is backing up by photographing the object;
• obtaining, by the camera, coordinates of at least one feature point spaced a predetermined distance from the object;
• establishing, by a controller, an estimated value of a vector representing a state of the vehicle based on coordinates of the vehicle, coordinates of the object, and the coordinates of the at least one feature point;
• determining, by the controller, a predicted value of the estimated value of the vector based on a result of differentiating the estimated value of the vector with respect to time;
• correcting, by the controller, the predicted value of the estimated value of the vector based on the coordinates of the object and the coordinates of the at least one feature point obtained by the rear camera;
• determining, by the controller, the estimated value of the vector based on the corrected predicted value of the estimated value of the vector based, and calculating a distance between the rear camera and the object based on the determined estimated value of the vector;
• and
• transmitting, by the controller, a collision warning signal when the calculated distance is less than a predetermined value;
• and
• outputting, by a notification unit, a collision warning based on the transmitted collision warning signal.