Lane keeping assist apparatus of a vehicle with a trailer, a system having the same, and a method thereof

A vehicle system of a vehicle including a trailer, the vehicle system comprising:

• a communication device configured to communicate with another vehicle during a travelling;
• and
• a lane keeping assist apparatus configured to request an advancing vehicle to control a partial braking over a trailer of the advancing vehicle through the communication device, depending on a lane departure amount of the advancing vehicle when the advancing vehicle departs from a lane,
• wherein the lane keeping assist apparatus is further configured to request the advancing vehicle to control the partial braking over the trailer of the advancing vehicle when the lane departure amount satisfies a preset condition and to transmit information on whether a target is present in a blind zone of a subject vehicle and information on the target when the lane departure amount satisfies the preset condition.

A lane keeping assist method comprising:

• determining a lane departure amount of an advancing vehicle when the advancing vehicle departs from a lane;
• and
• requesting the advancing vehicle to control a partial braking over a trailer of the advancing vehicle depending on the lane departure amount,
• wherein the requesting the advancing vehicle to control the partial braking over the trailer includes
• requesting the advancing vehicle to control the partial braking over the trailer of the advancing vehicle when the lane departure amount satisfies a preset condition, and
• transmitting information on whether a target is present in a blind zone of a subject vehicle and information on the target when the lane departure amount satisfies the preset condition.