A system for avoiding a collision based on a vision, the system comprising: a camera for filming a region ahead of a vehicle; a path generating device configured to: set a travelable region where the vehicle may travel by avoiding an obstacle in a vision of the region ahead of the vehicle filmed by the camera; and generate one or more travel paths in the travelable region; and a motion controller configured to select one optimal path from the one or more travel paths to perform a longitudinal control or a lateral control of the vehicle such that the vehicle travels along the optimal path, wherein the path generating device is further configured to convert the vision of the region ahead of the vehicle into a top view vision, and to form a limit line by connecting points spaced apart from each other at a preset spacing and spaced from an outermost line of the obstacle in a direction away from the outermost line in the top view vision, characterized in that the path generating device is further configured to: form a vanishing point in the top view vision at an intersection of a first diagonal line connecting a top right corner and a bottom left corner to each other and a second diagonal line connecting a top left corner and a bottom right corner to each other; form a plurality of horizontal division lines that divide a vertical dimension from the vanishing point to a bottom into a preset number of equal dimensions; form intersections of the plurality of horizontal division lines, the first diagonal line, and the second diagonal line; form a plurality of candidate points on each horizontal division line between an intersection of the horizontal division line with the first diagonal line and an intersection of the horizontal division line with the second diagonal line; and generate the optimal path by selecting one of the plurality of candidate points formed on each horizontal division line. a camera for filming a region ahead of a vehicle; a path generating device configured to: set a travelable region where the vehicle may travel by avoiding an obstacle in a vision of the region ahead of the vehicle filmed by the camera; and generate one or more travel paths in the travelable region; and set a travelable region where the vehicle may travel by avoiding an obstacle in a vision of the region ahead of the vehicle filmed by the camera; and generate one or more travel paths in the travelable region; and a motion controller configured to select one optimal path from the one or more travel paths to perform a longitudinal control or a lateral control of the vehicle such that the vehicle travels along the optimal path, wherein the path generating device is further configured to convert the vision of the region ahead of the vehicle into a top view vision, and to form a limit line by connecting points spaced apart from each other at a preset spacing and spaced from an outermost line of the obstacle in a direction away from the outermost line in the top view vision, characterized in that the path generating device is further configured to: form a vanishing point in the top view vision at an intersection of a first diagonal line connecting a top right corner and a bottom left corner to each other and a second diagonal line connecting a top left corner and a bottom right corner to each other; form a plurality of horizontal division lines that divide a vertical dimension from the vanishing point to a bottom into a preset number of equal dimensions; form intersections of the plurality of horizontal division lines, the first diagonal line, and the second diagonal line; form a plurality of candidate points on each horizontal division line between an intersection of the horizontal division line with the first diagonal line and an intersection of the horizontal division line with the second diagonal line; and generate the optimal path by selecting one of the plurality of candidate points formed on each horizontal division line. form a vanishing point in the top view vision at an intersection of a first diagonal line connecting a top right corner and a bottom left corner to each other and a second diagonal line connecting a top left corner and a bottom right corner to each other; form a plurality of horizontal division lines that divide a vertical dimension from the vanishing point to a bottom into a preset number of equal dimensions; form intersections of the plurality of horizontal division lines, the first diagonal line, and the second diagonal line; form a plurality of candidate points on each horizontal division line between an intersection of the horizontal division line with the first diagonal line and an intersection of the horizontal division line with the second diagonal line; and generate the optimal path by selecting one of the plurality of candidate points formed on each horizontal division line.