VEHICLE

An aspect of the disclosure is to provide a vehicle capable of safely performing autonomous driving without user intervention through operations of control modules and communication between the control modules even in an emergency situation of an autonomous vehicle. The vehicle includes a plurality of control modules and a central processor. The central processor is configured to: in case of an emergency situation, determine a plurality of paths for each situation based on a speed of the vehicle; determine a risk corresponding to each of the plurality of paths for each situation based on the speed of the vehicle and a mass of the vehicle; determine a safety path corresponding to the smallest risk among the risks corresponding to each of the plurality of paths for each situation; and control the plurality of control modules based on a command set corresponding to the safety path.