A woman walking on a two-lane road in a rural area of southern Prince George’s County was struck by a vehicle and killed early Tuesday morning, authorities said.

Joanna Tannehill, 26, was walking with two other people in the 16600 block of Brandywine Road in the Brandywine area when the crash occurred at about 5:45 a.m., said Cpl. Evan Baxter, a Prince George’s County police spokesman.

Tannehill and the others were walking north in the middle of the southbound lane when a vehicle came up behind them headed against traffic in the southbound lane, Baxter said.

Baxter said the vehicle was attempting to “legally pass” a car in the northbound lane. He said the driver swerved to avoid the pedestrians but struck and killed Tannehill. The other two pedestrians were not injured, Baxter said.

The vehicle’s driver was also unhurt and remained on the scene of the crash, Baxter said. At least preliminarily, he said, it appears “the driver was doing everything legally.” The driver was not speeding, Baxter said, and the pedestrians were walking in the middle of a dimly lit country road wearing dark clothing.

This item has been updated since it was first published.