APPARATUS AND METHOD FOR ASSISTING DRIVING OF VEHICLE

An apparatus for assisting driving of a vehicle includes: a radar mounted on the vehicle to have a front field of view of the vehicle and configured to acquire detection data; and a controller including a processor, configured to process the detection data, and configured to identify an estimated collision time between the vehicle and a first preceding vehicle, located in front of the vehicle, based on processing of the detection data, and to control a braking system of the vehicle to brake the vehicle, in response to the estimated collision time being less than a reference time, wherein the controller is configured to increase a reference time for braking the vehicle, based on an acceleration and a travelling speed of the first preceding vehicle and an acceleration and a travelling speed of a second preceding vehicle, located in front of the first preceding vehicle.