Vehicle and Method of Controlling Cut-In Response

The present disclosure relates to a vehicle and associated method capable of effectively responding to a cut-in of a nearby vehicle in various road conditions. The method includes obtaining driving situation information; drawing an integrated lane by selectively applying a lanelink, a lainside, and a point level path (PLP) based on the obtained driving situation information; determining a cut-in target based on the integrated lane and a predicted path of each of at least one nearby vehicle; calculating a control point to be followed for driving control of an ego vehicle based on an intersection of a predicted path of the cut-in target and the integrated lane; generating a speed profile and a driving path based on the calculated control point; and performing driving control based on a parameter corresponding to the speed profile and the driving path.