Abstract: The present disclosure relates to a system and a method for avoiding a collision for a vehicle. The system includes an operation determining device for determining whether the vehicle has entered a parking lot based on location information and inclination information of the vehicle, and a controller that generates a virtual map about an obstacle on a curved road in the parking lot based on image information and distance information when it is determined that the vehicle has entered the parking lot, generates an expected movement trajectory of the vehicle based on steering information and speed information of the vehicle, and predicts the collision of the obstacle in the virtual map and the vehicle depending on the expected movement trajectory based on the virtual map and the expected movement trajectory.