A control method of a vehicle by a first controller and a second controller, the control method includes: generating, by the first controller, an Ea(B) in which a second symmetric key is encrypted based on a first symmetric key, and assigning a first random number to the Ea(B); receiving, by the second controller, the Ea(B) and the first random number, generating a fourth symmetric key in which the Ea(B) is decrypted based on a third symmetric key, and generating an Eb(N(MASTER)) in which the first random number is encrypted based on the fourth symmetric key; receiving, by the first controller, the Eb(N(MASTER)), and decrypting the Eb(N(MASTER)) to generate a second random number; and updating the second symmetric key based on a comparison between the first random number and the second random number.