Apparatus and Method for Controlling Vehicle

An embodiment apparatus for controlling a vehicle includes a camera and a controller configured to generate a detection line having a specified width based on a traveling direction of the vehicle within a road image obtained by the camera, to generate a corner point at a point where the detection line meets a line identified in the road image, and to control a speed of the vehicle by estimating a curvature of a road based on the corner point or to control steering based on an angle between the detection line and the line.