VEHICLE FOR PROVIDING DISCRETIONARY LANE CHANGE AND METHOD THEREOF

Disclosed is a vehicle configured to provide a discretionary lane change. The vehicle may include a processor configured to: receive, from a driver of the vehicle via the communication interface, a request to activate a lane keeping function of the autonomous driving operation; determine, based on the request, whether the vehicle is in a state capable of performing the lane keeping function of the autonomous driving operation; activate, based on the vehicle being in the state capable of performing the lane keeping function of the autonomous driving operation, the lane keeping function of the autonomous driving operation; determine whether to activate a discretionary lane change function of the autonomous driving operation; and control, based on whether the discretionary lane change function of the autonomous driving operation is activated, the autonomous driving operation of the vehicle.