A method and apparatus for path prediction in a vehicle are useful for determining a driving intent of a driver. The method for predicting a path of the vehicle includes steps carried out by a processor, including: acquiring driving information of the vehicle; determining a longitudinal driving intent and a lateral driving intent of the driver based on the driving information; generating a velocity profile and a curvature profile of the vehicle based on the longitudinal driving intent and the lateral driving intent; and determining a predicted path of the vehicle based on the velocity profile and the curvature profile.

A vehicle control device is configured to execute travel control of controlling a vehicle such that a travel speed of the vehicle is a target speed corresponding to an inter-vehicle distance between the vehicle and a preceding vehicle traveling in front of the vehicle, or a predetermined target speed set by a driver of the vehicle, and acceleration limit control of limiting acceleration of the vehicle by the travel control. The vehicle control device includes a controller configured to execute the acceleration limit control when an intention to turn right or left of the driver is detected in the vehicle traveling under the travel control, and to end the acceleration limit control in response to a decrease in a steering speed in the vehicle during the acceleration limit control.