A method includes the step of receiving traffic signal display information from a traffic control unit controlling a display of a traffic signal located near an intersection when a vehicle is driving toward the intersection. The traffic signal display information includes a current display state of the traffic signal and information indicating a remaining time for which the current display state of the traffic signal will continues. The method further includes the step of acquiring traffic signal recognition information when the vehicle is driving toward the intersection. The traffic signal recognition information is recognized by a traffic signal detector mounted on the vehicle and indicating a current display of the traffic signal. The method further includes the step of controlling driving of the vehicle when the vehicle enters the intersection based on the traffic signal display information and the traffic signal recognition information.