Apparatus and method for providing driving path in vehicle

An apparatus for providing a driving path of a vehicle, the apparatus comprising:

• a plurality of sensors configured to obtain information regarding the vehicle and information regarding an external object;
• a steering device;
• an input device configured to receive a lane change command from a driver of the vehicle;
• and
• a control circuit electrically connected with the plurality of sensors, the steering device, and the input device and configured to:
• control the vehicle to travel along a deviated path in a driving lane of the vehicle based on at least one of the information regarding the vehicle, the information regarding the external object, or an operation of the steering device;
• control the vehicle to complete a lane change and travel along a deviated path in a changed lane in response to the received lane change command when the vehicle travels along the deviated path in the driving lane;
• determine an intention of the driver to perform a deviated driving based on the operation of the steering device;
• generate the deviated path in the changed lane in response to the received lane change command when the driver is determined to intend to perform the deviated driving, wherein the deviated driving means the vehicle travels along a deviated path which departs from a lane center path in the driving lane;
• generate a lane centering path in response to a determination that a path following performance of the vehicle is degraded;
• control the vehicle to travel along the generated lane centering path when the lane change is completed and the path following performance of the vehicle is degraded;
• and
• determine that the driver intends to perform the deviated driving when:
• a steering torque greater than a first predetermined value is generated at a first predetermined time;
• and
• the vehicle is away from a center of the driving lane at a distance greater than a predetermined distance.