Provided is an autonomous vehicle including a storage configured to store a map including two-dimensionally represented road surface information and three-dimensionally represented structure information, a camera configured to obtain a two-dimensional (2D) image of a road surface in a vicinity of the vehicle, a light detection and ranging (LiDAR) unit configured to obtain three-dimensional (3D) spatial information regarding structures in a vicinity of the vehicle, and a controller comprising processing circuitry configured to determine at least one of the camera or the LiDAR unit as a position sensor, based on whether it is possible to obtain information regarding the road surface and/or the structures in the vicinity of the vehicle, to identify a position of the vehicle on the map corresponding to a current position of the vehicle using the position sensor, and performing autonomous driving based on the identified position on the map.