Apparatus for assisting driving and method thereof

Abstract

Provided is an apparatus for assisting driving of a host vehicle, the apparatus comprising: a first sensor mounted to a host vehicle and having a field of view in front of the host vehicle, the first sensor configured to acquire front image data; a second sensor selected from a group consisting of a radar sensor and a Light Detection and Ranging (LiDAR) sensor and mounted to the host vehicle, the second sensor configured to have a field of sensing in front of the host vehicle and acquire front sensing data; a third sensor selected from a group consisting of a radar sensor and a LiDAR sensor and mounted to the host vehicle, the third sensor configured to have a field of sensing behind the vehicle and acquire rear side sensing data; and a controller including a processor configured to process the front side sensing data and the rear side sensing data; wherein the controller is configured to: in response to a lane change command being input, acquire position information and velocity information of other vehicle traveling in another lane corresponding to the lane change command based on the rear side sensing data, and output a driving signal for changing a distance between the host vehicle and a preceding vehicle based on the position information and the velocity information of the other vehicle.