A control device for use in a vehicle, the control device comprising: a communication unit configured to receive location information of the vehicle; a sensing unit; a display unit; and at least one processor configured to: determine, based on the location information received by the communication unit, that the vehicle has entered an area within a predetermined distance from an intersection at which the vehicle changes a travel direction according to a preset route information, detect an object located around the intersection through the sensing unit, and control the display unit to output a route to an entrance of the intersection, as a guidance information, using information related to the object located around the intersection, characterized in that after a first output of the guidance information, the at least one processor is further configured to: determine whether or not the driver looks at the object used in the guidance information, when the driver does not look at the object, or when the operation of the vehicle satisfying a preset condition is not performed, output the guidance information again, and when the driver looks at the object, terminate the guidance without reoutputting the guidance information. a communication unit configured to receive location information of the vehicle; a sensing unit; a display unit; and at least one processor configured to: determine, based on the location information received by the communication unit, that the vehicle has entered an area within a predetermined distance from an intersection at which the vehicle changes a travel direction according to a preset route information, detect an object located around the intersection through the sensing unit, and control the display unit to output a route to an entrance of the intersection, as a guidance information, using information related to the object located around the intersection, characterized in that after a first output of the guidance information, the at least one processor is further configured to: determine whether or not the driver looks at the object used in the guidance information, when the driver does not look at the object, or when the operation of the vehicle satisfying a preset condition is not performed, output the guidance information again, and when the driver looks at the object, terminate the guidance without reoutputting the guidance information. determine, based on the location information received by the communication unit, that the vehicle has entered an area within a predetermined distance from an intersection at which the vehicle changes a travel direction according to a preset route information, detect an object located around the intersection through the sensing unit, and control the display unit to output a route to an entrance of the intersection, as a guidance information, using information related to the object located around the intersection, characterized in that after a first output of the guidance information, the at least one processor is further configured to: determine whether or not the driver looks at the object used in the guidance information, when the driver does not look at the object, or when the operation of the vehicle satisfying a preset condition is not performed, output the guidance information again, and when the driver looks at the object, terminate the guidance without reoutputting the guidance information. determine whether or not the driver looks at the object used in the guidance information, when the driver does not look at the object, or when the operation of the vehicle satisfying a preset condition is not performed, output the guidance information again, and when the driver looks at the object, terminate the guidance without reoutputting the guidance information.