Vehicle and Control Method Thereof

A vehicle includes a memory configured to store predetermined points in time at which each of a plurality of tasks is to be performed, the plurality of tasks including a first task and a second task, and a detector configured to determine a malfunction of at least one processor of a plurality of processors performing the plurality of tasks, wherein the detector is configured to control the at least one processor to output trigger signals for the first task and the second task based on whether one of the first and second tasks is completed at its respective predetermined point in time.