System and method for controlling vehicle

A method of controlling a vehicle using the system for controlling a vehicle, the method comprising:

• operating independent driving modules each comprising
• a connection device having a rotation center spaced apart from a driving shaft of a wheel in a forward/rearward direction and being configured to connect the wheel and a vehicle body so that the wheel is moved in the forward/rearward direction or an upward/downward direction,
• a shock absorber extending in a longitudinal direction and being configured to contract or stretch, to connect the vehicle body and the connection device, and to restrict an upward/downward movement of the connection device, and
• a driving device configured to rotate the wheel;
• detecting a height displacement or a state of a road surface on which the vehicle travels;
• and
• controlling velocities of the front and rear wheels of the independent driving modules, and changing the vehicle height of the vehicle based on the height displacement or the state of the road surface.