VEHICLE AND CONTROL METHOD FOR SAME

A method of controlling a vehicle includes detecting an object satisfying preset object conditions and driving conditions for approaching the vehicle. The method also includes determining a first control time according to the driving conditions and a second control time after the first control time. The method additionally include performing first vehicle stability control at the first control time. The method further includes performing second vehicle stability control in the opposite yaw-rate control direction to the first vehicle stability control at the second control time.