Vehicle and Method of Controlling the Same

A vehicle comprising:

• one or more sensors configured to detect a pedestrian in an exterior environment of the vehicle;
• one or more processors;
• and
• a memory storing at least one instruction that is configured, when executed by the one or more processors communicating with the memory, to cause the vehicle to execute:
• a first process configured to determine, based on map information and traffic signal information, intersection information regarding an intersection associated with the vehicle;
• a second process configured to:
• receive, from the one or more sensors, pedestrian information regarding the pedestrian;
• and
• determine, based on the pedestrian information indicating a position of the pedestrian, a pedestrian type of the pedestrian;
• a third process configured to determine, based on the pedestrian type of the pedestrian and further based on vehicle movement information of the vehicle, a pedestrian danger level;
• and
• a fourth process configured to control, based on the pedestrian danger level, an autonomous driving operation of the vehicle.