Apparatus for controlling lane change of vehicle, system having the same and method thereof

A vehicle system for a vehicle, comprising:

• a lane change controlling apparatus configured to:
• determine whether a condition of interrupting a lane change procedure occurs, during controlling the lane change, and
• when the condition of interrupting the lane change procedure occurs, determine whether to interrupt the lane change procedure, or whether to return the vehicle to an original lane;
• and
• a warning device configured to output a notification when the lane change procedure is interrupted,
• wherein the condition of interrupting the lane change procedure comprises:
• when a dangerous situation is sensed;
• when a hand-off state of a user of the vehicle is sensed;
• when a request to cancel the lane change procedure is generated by the user;
• when a lane change operation is not started within a predetermined time after the user requests the lane change;
• when a lane change function is turned off or overridden by the user;
• and
• when an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure.

A method for controlling a lane change of a vehicle, the method comprising:

• determining, by a processor, whether a condition of interrupting a lane change procedure occurs, during controlling the lane change;
• when the condition of interrupting the lane change procedure occurs, determining, by the processor, whether to interrupt the lane change procedure, or whether to return the vehicle to an original lane to control the vehicle;
• and
• outputting, by a warning device, a notification when the lane change procedure is interrupted,
• wherein the condition of interrupting the lane change procedure comprises:
• when a dangerous situation is sensed;
• when a hand-off state of a user of the vehicle is sensed;
• when a request to cancel the lane change procedure is generated by the user;
• when a lane change operation is not started within a predetermined time after the user requests the lane change;
• when a lane change function is turned off or overridden by the user;
• and
• when an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure.