CPC B62D 15/025 (2013.01) [B60W 30/12 (2013.01); B60W 2520/14 (2013.01)] | 20 Claims |
1. A lane keeping control apparatus comprising:
a processor configured to generate a target path of a vehicle based on line information, upon lane keeping control of the vehicle, to determine whether the vehicle arrives adjacent to the target path, to determine a feedback compensation distance in a direction opposite to a current steering direction of the vehicle based on a yaw rate of the vehicle, when the vehicle arrives adjacent to the target path before the vehicle arrives at the target path, and to perform steering control of the vehicle based on the feedback compensation distance; and
a storage storing data and an algorithm run by the processor.
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