APPARATUS FOR ASSISTING DRIVING AND METHOD THEREOF

Disclosed herein an apparatus for assisting driving of a vehicle includes a camera installed in the vehicle, the camera having a field of view around the vehicle and obtaining image data; and a controller configured to process the image data. The controller may identify at least one object located around the vehicle based on processing the image data, update a trajectory of the vehicle based on an interference between a trajectory of the at least one object and the trajectory of the vehicle, control at least one of a driving device, a braking device, and a steering device of the vehicle based on the updated trajectory of the vehicle.