Driving Assistance Apparatus and Method

An embodiment driving assistance apparatus includes a sensor unit configured to search surroundings of a vehicle using one or more sensors, a steering device configured to control a traveling direction of the vehicle, a control unit configured to calculate a target trajectory of the vehicle using searching information received from the sensor unit and to calculate an expected trajectory of the vehicle based on a steering angle of the steering device, and an output unit configured to display the target trajectory and the expected trajectory for a driver, the display designed to assist a steering operation of the driver.