Lane keeping assist method and system

A lane keeping assist method, comprising steps of:

• determining whether a turn signal is applied;
• determining a state of a lane change in which a timing of a driver's driving control of a vehicle is reflected when the turn signal is applied;
• adjusting a criterion for driver override depending on an error between a driving path of the vehicle and a target path;
• and
• comparing a steering torque of the driver with the adjusted criterion to determine the driver override, wherein the steering toque of the driver is obtained by a torque sensor,
• wherein the driver override is a state that the driver has driving control of the vehicle in autonomous driving of the vehicle, and
• wherein the adjusting the criterion for the driver override includes:
• setting the criterion for the driver override to a second value greater than a first value when the error is less than a threshold;
• and
• determining cancellation of the driver override when the steering torque of the driver is less than the second value, wherein the first value is set to the criterion for the driver override when the error is greater that the threshold.