A control apparatus configured for vehicle, a vehicle and a control method of vehicle, may include an emergency call unit configured to generate an emergency rescue signal by recognizing an emergency situation of vehicle, a head unit configured to provide audio information to a user, and a main controller configured to control at least one component contained in the vehicle, wherein the main controller stores a vehicle identification number in advance, the head unit receives the vehicle identification number from the main controller and the emergency call unit receives the vehicle identification number from the head unit.