APPARATUS FOR DRIVING ASSISTANCE, VEHICLE INCLUDING THE SAME, AND METHOD FOR DRIVING ASSISTANCE

Disclosed herein is an apparatus for driving assistance. The apparatus includes at least one memory configured to store a program for identifying a guardrail, and at least one processor configured to execute the stored program and identify the guardrail based on detection data indicating information about an surrounding environment of a vehicle and behavior data indicating information about behavior of the vehicle, and the at least one processor identifies the guardrail by applying a Gaussian noise model to the detection data.