A method of planning a traveling path of a first vehicle, performed by a device included in the first vehicle, the method comprising: detecting at least two external vehicles located within a predetermined distance from the first vehicle using at least one sensor (S210); determining a risk due to the at least two external vehicles based on a weight, a size and a turning radius as a feature based on a type of the at least two external vehicles (S220); and planning the traveling path of the first vehicle based on the risk due to the at least two external vehicles (S230), wherein the planning of the traveling path of the first vehicle comprises: determining a risk due to a second vehicle, the second vehicle being one of the at least two external vehicles, the second vehicle traveling in a rear of the first vehicle and in a same lane as a traveling lane of the first vehicle based on a weight, a size and a turning radius as a feature based on a type of the second vehicle and a risk due to at least one third vehicle, the third vehicle being one of the at least two external vehicles, the third vehicle traveling in a rear of the first vehicle and in a lane different from the traveling lane of the first vehicle based on a weight, a size and a turning radius as a feature based on a type of the third vehicle; determining to stop the first vehicle in a current traveling lane based on the risk due to the second vehicle being less than or equal to the risk due to the at least one third vehicle; and determining to stop the first vehicle in a different lane from the current traveling lane based on the risk due to the second vehicle being greater than the risk due to the at least one third vehicle. detecting at least two external vehicles located within a predetermined distance from the first vehicle using at least one sensor (S210); determining a risk due to the at least two external vehicles based on a weight, a size and a turning radius as a feature based on a type of the at least two external vehicles (S220); and planning the traveling path of the first vehicle based on the risk due to the at least two external vehicles (S230), wherein the planning of the traveling path of the first vehicle comprises: determining a risk due to a second vehicle, the second vehicle being one of the at least two external vehicles, the second vehicle traveling in a rear of the first vehicle and in a same lane as a traveling lane of the first vehicle based on a weight, a size and a turning radius as a feature based on a type of the second vehicle and a risk due to at least one third vehicle, the third vehicle being one of the at least two external vehicles, the third vehicle traveling in a rear of the first vehicle and in a lane different from the traveling lane of the first vehicle based on a weight, a size and a turning radius as a feature based on a type of the third vehicle; determining to stop the first vehicle in a current traveling lane based on the risk due to the second vehicle being less than or equal to the risk due to the at least one third vehicle; and determining to stop the first vehicle in a different lane from the current traveling lane based on the risk due to the second vehicle being greater than the risk due to the at least one third vehicle. <EOS>