Vehicle and method of controlling the same

A method of controlling a vehicle, the method comprising:

• identifying, by a main controller and based on at least one image captured by at least one camera, a crosswalk, wherein the at least one image comprises:
• information indicating a moving direction of the vehicle;
• information indicating the crosswalk;
• and
• information indicating a status of a pedestrian traffic light placed at the crosswalk;
• determining, based on the at least one image, whether a pedestrian is present at the crosswalk, wherein the determining whether the pedestrian is present at the crosswalk comprises identifying, by the main controller and using the at least one image and information detected by a detection sensor that detects an obstacle located around the vehicle, the pedestrian being present at the crosswalk;
• determining, by the main controller and based on the at least one image, a signal of the pedestrian traffic light placed at the crosswalk;
• and
• while the vehicle is moving toward the crosswalk by turning right, controlling, by the main controller and based on the pedestrian traffic light being green, a brake controller to control a braking device to stop the vehicle before the vehicle reaches the crosswalk,
• wherein the controlling of the brake controller comprises controlling the brake controller to control the vehicle to make a temporary stop, before reaching the crosswalk, irrespective of manipulation by a driver of the vehicle,
• wherein the method further comprises controlling, by the main controller and based on a determination that the pedestrian is not present at the crosswalk, the brake controller to control the vehicle to be released from a stopped state, and
• wherein the method further comprises:
• determining, based on the at least one image, whether there is at least one pedestrian moving toward the crosswalk, and
• controlling, based on no pedestrian attempting to cross the crosswalk, the vehicle to turn right toward the crosswalk.