The invention discloses a lane keeping control method. The method includes the steps that when a lane keeping system works, a driver operation state is recognized according to a steering wheel momentsignal, and when the moment applied by a driver to a steering wheel is higher than a threshold value, it is judged that the driver consciously controls the steering wheel; otherwise, it is judged thatthe steering wheel is out of control of the driver; when the driver consciously controls the steering wheel, if a vehicle does not deviate, the lane keeping system does not work; if the vehicle deviates, the corrected moment is calculated and stops a driver from rotating the steering wheel in the deviating direction; when the steering wheel is out of control of the driver and the vehicle does notdepart, the driver is reminded through a voice system; and when the vehicle deviates from a lane, a lane departure early warning is sent out, the steering wheel is actively controlled, and the vehicle returns back to the target lane. By the adoption of the method, a man-machine coordination control mechanism is reasonable, and it is guaranteed that when the vehicle is controlled, only the driveris assisted, and normal operation of the driver is not disturbed.