The present invention relates to a lane keeping control method of the vehicle and an apparatus thereof. More specifically, the present invention relates to a method and an apparatus for calculating a torque for the lane keeping of the vehicle. In particular, the present invention provides a lane keeping control device that includes: a receiving unit that is configured to receive sensed information containing lane information from one or more sensors in the vehicle； a target torque calculating unit that is configured to calculate a target torque for the lane keeping of the vehicle based on the sensed information； and a final torque calculating unit that is configured to calculate a final torque for the lane keeping based on a driver steering torque and the target torque according to the input of the driver steering torque, and further provides a lane keeping control method.
