1. A vehicle comprising: a storage configured to store a map including a type of driving road; a surrounding information acquisition unit configured to acquire surrounding information; and a controller configured to determine a driving lane by comparing reference lane line information corresponding to the type of the driving road verified based on the map with estimated lane line information based on the surrounding information, wherein the controller acquires a possibility that each lane forming the road becomes the driving lane by comparing the reference lane line information with the estimated lane line information, and wherein the controller determines a driving lane by comparing the reference lane line information including at least one of the top lane line information and the lowest lane line information corresponding to the type of the driving road with the estimated lane line information based on the surrounding information.