ADVANCED DRIVER ASSISTANCE SYSTEM, VEHICLE HAVING THE SAME, AND METHOD OF CONTROLLING VEHICLE

A method of controlling a vehicle includes obtaining, by a camera, an image of a road ahead; recognizing, by a controller, a curvature of a front lane from the obtained road image; obtaining, by the controller, position information and speed information of another vehicle based on obstacle information detected by an obstacle detector; periodically storing, by a storage, driving speed information, yaw rate information, and steering angle information while driving; recognizing, by the controller, a curvature of a rear lane based on the periodically stored driving speed information, yaw rate information, and steering angle information in response to determining that a lane change is necessary; determining, by the controller, a lane change possibility based on the recognized curvature of the front lane, the recognized curvature of the rear lane, and the position information and speed information of the other vehicle; and controlling, by the controller, at least one of steering, deceleration, and acceleration based on the determined lane change possibility.