An embodiment method for operating a vehicle includes monitoring a state of the vehicle, determining a type of an emergency stop from a plurality of types of emergency stops based on the state of the vehicle, and executing the determined type of the emergency stop. An embodiment vehicle includes sensors, a processor configured to control automated driving of the vehicle based on state information of components of the vehicle and surrounding environment information of the vehicle detected by the sensors, and a controller configured to control an operation of the vehicle based on a control of the processor, wherein the processor is further configured to monitor a state of the vehicle, determine a type of an emergency stop from a plurality of types of emergency stops based on the state of the vehicle, and execute the determined type of the emergency stop by controlling the controller.