Vehicle and method for generating map corresponding to three-dimensional space

Disclosed is a vehicle including: a sensor unit which uses at least one sensor to perform sensing in a three-dimensional space, and outputs spatial information about a plurality of frames; a memory in which computer-executable commands are stored; and a processor which executes the computer-executable commands to predict the position of an object corresponding to a current frame by using an object movement model based on the plurality of frames, remove the object included in the current frame on the basis of the predicted position of the object, update a map database, composed of a prescribed number of previous frames, with the current frame removed of the object, and generate a map corresponding to the three-dimensional space on the basis of the updated map database.