APPARATUS FOR CONTROLLING A VEHICLE, A SYSTEM HAVING THE SAME, AND A METHOD FOR THE SAME

Disclosed are an apparatus for controlling a vehicle, a system including the apparatus, and a method for controlling the apparatus. The apparatus includes: a reference lane calculator to calculate a reference lane based on a traveling condition of the vehicle; a target determining device to determine a target of interest based on the reference lane and a predicted path of an object around the vehicle; and a control parameter calculating device to calculate a control parameter of the vehicle based on a traveling state of the target of interest.