VEHICLE AND OBSTACLE AVOIDANCE ASSIST METHOD THEREOF

A vehicle and an obstacle avoidance assist method thereof are capable of performing obstacle avoidance assist control by tracking a previously sensed obstacle that deviates from a sensing region of a sensor. The obstacle avoidance assist method of a vehicle includes: detecting at least one obstacle near a vehicle using a proximity sensor; determining a travel range corresponding to a predicted travel trajectory of the body of the vehicle based on a gear stage and a steering angle; determining at least one effective obstacle, based on the travel range, from the at least one detected obstacle; and outputting a warning about the determined at least one effective obstacle.