DRIVER ASSISTANCE APPARATUS

Provided is an apparatus for assisting driving of a vehicle, the apparatus comprising: a front camera mounted on a vehicle and having a field of view in front of the vehicle, the front camera configured to acquire front image data; a dynamics sensor mounted on the vehicle and configured to acquire dynamics data that is a motion state of the vehicle; and a controller including a processor configured to process the front image data and the dynamics data, wherein the controller is configured to generate a front virtual lane on the basis of the field of view in front of the vehicle based on the front image data, and generate a rear virtual lane on the basis of the field of view in rear of the vehicle based on the front virtual lane and the dynamics data.