Driving Assistance System for Vehicle

An embodiment driving assistance system for a vehicle includes a driving information provision unit configured to acquire and provide driving information of a traveling vehicle, a control unit configured to generate and output a control signal for driving assistance when it is determined the vehicle travels on a rough road based on the driving information of the vehicle provided by the driving information provision unit and it is determined that the vehicle is currently in a rough road traveling state, and a steering actuator configured to generate and apply a steering assistance force according to a control value of the control signal for the driving assistance output by the control unit to a steering wheel.