Yes. Every time you reach the curb (when crossing) say a word of your choice (stop, road, street, whatever) and do a gentle nudge with the leash and make her stop. When she stops award and prize her. Soon she'll work it out and stop at command or even without it out of habit. Some learn sooner, some later. Both my dogs know this command and stop, although they're always on leash while walking in public. I'm not sure how they would be if on their own. For rottie, I'm certain she's careful, because when I got her (found her) she was petrified of crossing roads, cars etc... so judging from the scars on her hind legs I guess she must've been hit by a car. She's still careful and moves away when she hears car approaching.
Originally Posted by TinaG
I don't know any other way apart from the one I wrote and another one which involves scaring a dog with a vehicle which I don't recommend. I'd rather suggest - be careful so she does not escape.
Respect and you shall be respected. Animal is always right.