The invention relates to a steering wheel, a vehicle comprising teh steering wheel and a control metod of the vehicle. The steering wheel with a touch area dynamically set up based on the driver's hand position may include touch input configured to receive a touching input of a driver; and a touch controller configured to set up a touch area for manipulation on the touch input to control components of a vehicle based on a touch area, in which the touching input is received, wherein the touch controller is further configured to determine a palm touch area of the driver and set up a touch area for manipulation around the palm touch area.