A method for controlling a vehicle including at least one camera and a lamp, the method comprising; controlling the at least one camera to capture at least one image of an area in front of the vehicle; extracting, from the at least one image, a light distribution pattern formed by the lamp in the area in front of the vehicle; and performing at least one control related to the extracted light distribution pattern, based on a comparison result obtained by comparing the extracted light distribution pattern with a reference light distribution pattern, characterized in that the method further comprises: setting a predetermined region where a malfunction test of the lamp can be performed using an image captured by the at least one camera by dividing the front of the vehicle into a plurality of regions, said plurality of regions including a driving-mandatory region, a test-inexecutable region and a test-executable region, wherein the driving-mandatory region is defined as a region where light is essentially irradiated for driving, the test-inexecutable region is defined as a region where irradiation of light is not allowed for safety purpose and wherein the test-inexecutable region is separate from the test-executable region, and wherein the controlling of the lamp is performed in a way to form a predeterminable light distribution pattern onto the test-executable region, said predeterminable light distribution pattern being referred to as a test light distribution pattern, wherein the test light distribution is configured to be varied, wherein the test light distribution pattern is utilized in obtaining the comparison result by comparing the extracted light distribution pattern with the reference light distribution pattern. controlling the at least one camera to capture at least one image of an area in front of the vehicle; extracting, from the at least one image, a light distribution pattern formed by the lamp in the area in front of the vehicle; and performing at least one control related to the extracted light distribution pattern, based on a comparison result obtained by comparing the extracted light distribution pattern with a reference light distribution pattern, characterized in that the method further comprises: setting a predetermined region where a malfunction test of the lamp can be performed using an image captured by the at least one camera by dividing the front of the vehicle into a plurality of regions, said plurality of regions including a driving-mandatory region, a test-inexecutable region and a test-executable region, wherein the driving-mandatory region is defined as a region where light is essentially irradiated for driving, the test-inexecutable region is defined as a region where irradiation of light is not allowed for safety purpose and wherein the test-inexecutable region is separate from the test-executable region, and wherein the controlling of the lamp is performed in a way to form a predeterminable light distribution pattern onto the test-executable region, said predeterminable light distribution pattern being referred to as a test light distribution pattern, wherein the test light distribution is configured to be varied, wherein the test light distribution pattern is utilized in obtaining the comparison result by comparing the extracted light distribution pattern with the reference light distribution pattern. setting a predetermined region where a malfunction test of the lamp can be performed using an image captured by the at least one camera by dividing the front of the vehicle into a plurality of regions, said plurality of regions including a driving-mandatory region, a test-inexecutable region and a test-executable region, wherein the driving-mandatory region is defined as a region where light is essentially irradiated for driving, the test-inexecutable region is defined as a region where irradiation of light is not allowed for safety purpose and wherein the test-inexecutable region is separate from the test-executable region, and wherein the controlling of the lamp is performed in a way to form a predeterminable light distribution pattern onto the test-executable region, said predeterminable light distribution pattern being referred to as a test light distribution pattern, wherein the test light distribution is configured to be varied, wherein the test light distribution pattern is utilized in obtaining the comparison result by comparing the extracted light distribution pattern with the reference light distribution pattern.