Vehicle and control method considering risk of vehicle

A vehicle configured to perform collision avoidance control includes a steering device, a brake device, an output device, and a controller. When there is a risk of collision between the vehicle and an external object, the controller determines a dangerous state and a collision risk level according to signals received from an operating device being operated by a driver, determines a collision avoidance method, a collision avoidance time point, and a control amount for collision avoidance, based on at least one of the dangerous state and the collision risk level, and controls at least one of the steering device, the brake device, and the output device such that the vehicle performs collision avoidance control, based on the collision avoidance method, the collision avoidance time point, and the control amount for the collision avoidance.