Vehicle and control method thereof

A vehicle may include: a sensor configured to detect an object outside of the vehicle; and a controller configured to perform a warning mode for generating a warning in response to the object being detected by the sensor, wherein the warning mode includes a first mode for detecting the object in a first preset driving condition of the vehicle and a second mode for detecting the object in a second preset driving condition of the vehicle, and wherein a number of object detection attempts in the second mode is set to be relatively greater than a number of object detection attempts in the first mode.