An electric vehicle includes a sensor unit for measuring a vehicle state, an interface unit for receiving vehicle control setting parameters from a vehicle driver, a main controller for operating and controlling the electric vehicle in response to input data from the sensor unit and the interface unit, and a sub controller for diagnosing the main controller in response to state information and driving information received from the main controller, and performing emergency control of the vehicle when a malfunction occurs in the main controller, instead of the main controller, The sub controller, under the emergency control, controls acceleration and deceleration of the vehicle, establishes a limit range of speed and torque of the vehicle, and controls the vehicle to be driven within the limit range.