Vehicle and Control Method Thereof

An embodiment vehicle includes a sensor configured to measure a current acceleration of the vehicle and a controller configured to derive a target acceleration value based on a surrounding environment of the vehicle, derive a first acceleration value based on an acceleration performance of the vehicle, determine a second acceleration value based on a predetermined limit value and the first acceleration value, determine a final target acceleration value based on the target acceleration value and the second acceleration value, and cause the current acceleration of the vehicle to be changed based on the final target acceleration value.