A system for controlling collision avoidance, the system comprising: an image sensor mountable to a host vehicle and configured to capture image data; and a controller comprising a processor and a non-transitory memory, the controller being configured to: receive an emergency braking warning signal for a forward collision of the host vehicle; detect object information, road information, and space information pertaining to areas in front of, to a side of, or in back of the host vehicle, based on processed image data if the warning signal is received; determine whether a risk of the forward collision of the host vehicle is larger than or equal to a first threshold value if the warning signal is received; search for drivable lanes and candidate areas in the space according to the determined risk of the forward collision, determine an avoidance area based on the determined risk, and set an avoidance path for the avoidance area, convert and determine a score for each of the candidate areas based on information on objects in front and in back of the candidate areas, determine that the candidate area having the largest score is an avoidance area if the calculated score is larger than or equal to a second threshold value, and search for the drivable lanes and the candidate areas again if the score is smaller than the second threshold value; and output steering and speed control signals for moving the host vehicle to the avoidance area along the avoidance path. an image sensor mountable to a host vehicle and configured to capture image data; and a controller comprising a processor and a non-transitory memory, the controller being configured to: receive an emergency braking warning signal for a forward collision of the host vehicle; detect object information, road information, and space information pertaining to areas in front of, to a side of, or in back of the host vehicle, based on processed image data if the warning signal is received; determine whether a risk of the forward collision of the host vehicle is larger than or equal to a first threshold value if the warning signal is received; search for drivable lanes and candidate areas in the space according to the determined risk of the forward collision, determine an avoidance area based on the determined risk, and set an avoidance path for the avoidance area, convert and determine a score for each of the candidate areas based on information on objects in front and in back of the candidate areas, determine that the candidate area having the largest score is an avoidance area if the calculated score is larger than or equal to a second threshold value, and search for the drivable lanes and the candidate areas again if the score is smaller than the second threshold value; and output steering and speed control signals for moving the host vehicle to the avoidance area along the avoidance path. receive an emergency braking warning signal for a forward collision of the host vehicle; detect object information, road information, and space information pertaining to areas in front of, to a side of, or in back of the host vehicle, based on processed image data if the warning signal is received; determine whether a risk of the forward collision of the host vehicle is larger than or equal to a first threshold value if the warning signal is received; search for drivable lanes and candidate areas in the space according to the determined risk of the forward collision, determine an avoidance area based on the determined risk, and set an avoidance path for the avoidance area, convert and determine a score for each of the candidate areas based on information on objects in front and in back of the candidate areas, determine that the candidate area having the largest score is an avoidance area if the calculated score is larger than or equal to a second threshold value, and search for the drivable lanes and the candidate areas again if the score is smaller than the second threshold value; and output steering and speed control signals for moving the host vehicle to the avoidance area along the avoidance path.