Lateral control apparatus and control method thereof

The present invention provides a lateral control apparatus and a control method thereof. The lateral control apparatus comprises: an offset measuring unit that measures current lateral offsets of at least two other vehicles at a current time based on a center of a driving lane; a preview offset calculating unit that predicts a lateral offset of the other vehicle based on the center of the driving lane based on a location and a speed of the other vehicle at a time when a predetermined time has elapsed to calculate a preview offset; a priority determining unit that determines a priority of the other vehicles based on a difference between the lateral offset and the preview offset; and a controller that generates a route for lane keeping control of own vehicle based on the lateral offset of the other vehicle to which a top priority is assigned by the priority determining unit. Lane keeping control is performed based on the other vehicle to which a top priority is assigned so that a control range of the LKAS extends to remove a sense of difference in steering and anxiety about driving which a driver may feel.