US Patent 11938999 Apparatus for controlling lane keeping and method thereof

A lane keeping control apparatus, a vehicle system including the same, and a method thereof may include a processor configured to determine a target turning radius to reach a center portion of a lane, to determine a required steering angle based on the target turning radius, and to correct the required steering angle by use of a difference between an actual yaw rate and a target yaw rate during lane keeping control; and a storage configured to store data and algorithms driven by the processor.