An autonomous vehicle includes: an autonomous driving control device configured to request control of an emergency light or a turn signal light in consideration of a travel situation during autonomous driving; a user input device configured to sense a user input; and a body control device configured to flash the emergency light or the turn signal light in response to the request of the autonomous driving control device, and to control the emergency light or the turn signal light in response to the user input when the user input is sensed while flashing the emergency light or the turn signal light.