but is it has something call lipo cutoff module to install to prevent such happen?
Yes, you're right. Novak has such a thing to intercept the throttle signal and stop the motor from running when the battery voltage is below the critical value. http://www.teamnovak.com/products/lipo_cutoff_module/index.html
But most CHing just install a buzzer which will sound when the battery is below a certain voltage.