Method of and apparatus for controlling vehicle traveling on branch road

An apparatus for controlling a vehicle traveling on a branch road, the apparatus comprising:

• a forward-viewing imaging sensor configured to detect lanes adjacent to both sides of a road on which the vehicle travels and a preceding vehicle;
• a vehicle lane determiner configured to determining whether the vehicle is traveling on the last lane of the road, using a signal of the forward-view imaging sensor;
• a monitor configured to monitor an amount of movement in a lateral direction of the preceding vehicle, using the signal of the forward-view imaging sensor;
• a curvature determiner configured to determine whether a curvature difference between a left vehicle lane and a right vehicle lane meets a threshold, using the signal of the forward-view imaging sensor;
• an amount-of-movement determiner configured to determining whether the amount of movement in the lateral direction of the preceding vehicle is smaller than a reference movement, in response to the curvature difference between the left vehicle lane and the right vehicle lane meeting the threshold;
• and
• a vehicle lane corrector configured to correct vehicle lane information associated with an exit road side of the last lane using vehicle lane information associated with a side of the last lane opposite to a side where the exit road is connected to the road, in response to the amount of movement in the lateral direction of the preceding vehicle being smaller than the reference movement.