Abstract: A vehicle control apparatus and method are disclosed. A vehicle control apparatus for autonomous driving includes a receiver configured to receive a local path based on a trajectory planner, and a controller configured to generate a steering command for lateral control of the vehicle based on the local path, generate a compensated steering command by compensating the steering command based on a movement state of a vehicle to be controlled, and control the vehicle based on the compensated steering command.

Abstract: Provided is a method of predicting a future trajectory of a current target vehicle by using pieces of movement information of one or more past nearby vehicles.

Abstract: Provided are a method and apparatus for generating a virtual stop line, wherein the method includes determining a target crosswalk from among one or more crosswalks on a driving route, setting a region of interest for the target crosswalk, and determining whether or not to generate a virtual stop line, on the basis of a location of a pedestrian within the region of interest.