METHOD OF AND APPARATUS FOR CONTROLLING VEHICLE TRAVELING ON BRANCH ROAD

Method of controlling a vehicle on a branch road, including determining whether a vehicle is traveling on a last lane of a road, monitoring movement in a lateral direction of a preceding vehicle, determining whether a curvature difference between a left lane and a right lane for the vehicle meets a threshold, determining whether an 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 correcting vehicle lane information associated with an exit road side of the last lane using vehicle lane information associated with an opposite side of the last lane 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.