An apparatus for controlling lane keeping of a vehicle, comprising: a driving information detecting unit configured to detect lane information on a road and state information of the vehicle, which is driven on the road, every predetermined time; a control start judging unit configured to judge whether to start lane keeping control of the vehicle by using the detected lane information and state information; a control cancellation judging unit configured to judge whether to cancel the lane keeping control by using the lane information and the state information detected after the lane keeping control starts; and a lane keeping controlling unit configured to calculate a control amount for controlling the vehicle based on the lane information and the state information detected every predetermined time before the lane keeping control is cancelled after the lane keeping control starts, and allow the vehicle to keep the lane on the road based on the control amount, wherein the control cancellation judging unit judges that the lane keeping control is to be canceled when it is judged that the vehicle does not deviate from the lane, the steering angle is input by the driver, or at least one of the lane information and the state information is not detected, characterized by a lane compensating unit configured to compensate for a misrecognized/unrecognized lane when at least one of both lanes on the road where the vehicle is driven is misrecognized/unrecognized, wherein the lane compensating unit judges whether a lane included in an image acquired by photographing the lane is a misrecognized/unrecognized lane by using sensing information acquired by sensing the lane and compensates for the misrecognized/unrecognized lane by using the sensing information when it is judged that the lane included in the image is the misrecognized/unrecognized lane and wherein the lane compensating unit uses an offset between the vehicle and the lane at each side, a heading angle of the vehicle, and the curvature of the road where the vehicle is driven, as the sensing information. a driving information detecting unit configured to detect lane information on a road and state information of the vehicle, which is driven on the road, every predetermined time; a control start judging unit configured to judge whether to start lane keeping control of the vehicle by using the detected lane information and state information; a control cancellation judging unit configured to judge whether to cancel the lane keeping control by using the lane information and the state information detected after the lane keeping control starts; and a lane keeping controlling unit configured to calculate a control amount for controlling the vehicle based on the lane information and the state information detected every predetermined time before the lane keeping control is cancelled after the lane keeping control starts, and allow the vehicle to keep the lane on the road based on the control amount, wherein the control cancellation judging unit judges that the lane keeping control is to be canceled when it is judged that the vehicle does not deviate from the lane, the steering angle is input by the driver, or at least one of the lane information and the state information is not detected, characterized by a lane compensating unit configured to compensate for a misrecognized/unrecognized lane when at least one of both lanes on the road where the vehicle is driven is misrecognized/unrecognized, wherein the lane compensating unit judges whether a lane included in an image acquired by photographing the lane is a misrecognized/unrecognized lane by using sensing information acquired by sensing the lane and compensates for the misrecognized/unrecognized lane by using the sensing information when it is judged that the lane included in the image is the misrecognized/unrecognized lane and wherein the lane compensating unit uses an offset between the vehicle and the lane at each side, a heading angle of the vehicle, and the curvature of the road where the vehicle is driven, as the sensing information.