A vehicle comprising: a camera; a storage storing a plurality of reference images and location information corresponding to each of the plurality of reference images; and a processor configured to: acquire an image of a surrounding environment in which the vehicle is currently traveling, through the camera, based on visibility of the image of the surrounding environment satisfying a predetermined condition consisting of a low visibility of the objects included in the image of the surrounding environment, select a reference image corresponding to a current location of the vehicle among the plurality of reference images, generate an image in which the image of the surrounding environment and the reference image are merged, wherein the processor is configured to compare visibility of an object included in the image of the surrounding environment and visibility of an object included in the reference image, and merge the image of the surrounding environment with the reference image in case that the visibility of the surrounding environment has a low visibility of the objects included in the image of the surrounding environment; generate a rendered image obtained by removing factors other than important factors for determining a traveling route from the merged image, wherein the important factors are a travelling vehicle, traffic sign information or dynamic objects, and control driving of the vehicle based on the rendered image. a camera; a storage storing a plurality of reference images and location information corresponding to each of the plurality of reference images; and a processor configured to: acquire an image of a surrounding environment in which the vehicle is currently traveling, through the camera, based on visibility of the image of the surrounding environment satisfying a predetermined condition consisting of a low visibility of the objects included in the image of the surrounding environment, select a reference image corresponding to a current location of the vehicle among the plurality of reference images, generate an image in which the image of the surrounding environment and the reference image are merged, wherein the processor is configured to compare visibility of an object included in the image of the surrounding environment and visibility of an object included in the reference image, and merge the image of the surrounding environment with the reference image in case that the visibility of the surrounding environment has a low visibility of the objects included in the image of the surrounding environment; generate a rendered image obtained by removing factors other than important factors for determining a traveling route from the merged image, wherein the important factors are a travelling vehicle, traffic sign information or dynamic objects, and control driving of the vehicle based on the rendered image. acquire an image of a surrounding environment in which the vehicle is currently traveling, through the camera, based on visibility of the image of the surrounding environment satisfying a predetermined condition consisting of a low visibility of the objects included in the image of the surrounding environment, select a reference image corresponding to a current location of the vehicle among the plurality of reference images, generate an image in which the image of the surrounding environment and the reference image are merged, wherein the processor is configured to compare visibility of an object included in the image of the surrounding environment and visibility of an object included in the reference image, and merge the image of the surrounding environment with the reference image in case that the visibility of the surrounding environment has a low visibility of the objects included in the image of the surrounding environment; generate a rendered image obtained by removing factors other than important factors for determining a traveling route from the merged image, wherein the important factors are a travelling vehicle, traffic sign information or dynamic objects, and control driving of the vehicle based on the rendered image.