System preventing collision of vehicle and method of controlling the same

A vehicle includes: a detection sensor configured to acquire a front view of the vehicle, and configured to detect an obstacle in the front view; and a controller including at least one processor which is configured to process data obtained from the detection sensor. The controller may be configured to determine a predicted position of a collision between the vehicle and the obstacle, determine an avoidance position capable of avoiding a collision with the obstacle based on the collision prediction position, generate a plurality of avoidance paths corresponding to a plurality of predetermined conditions, respectively, based on the avoidance position, and control a steering angle adjustment unit to follow any one of the plurality of avoidance paths.