Apparatus for safety-driving of vehicle

An apparatus for safety-driving of a vehicle, the apparatus comprising:

• a plurality of cameras mounted on the vehicle, photographing a vicinity of the vehicle in different directions, and outputting a plurality of images of the vicinity of the vehicle in the different directions, the plurality of images including a left image and a right image of the vehicle;
• at least one processor configured to:
• synthesize the plurality of images to output a top-view image;
• detect a left or right traffic lane of the vehicle from the top-view image based on a traffic lane feature of the top-view image;
• detect a wheel of another vehicle from at least one of the left image and the right image by using at least one of a plurality of Haar-like features detected in the at least one of the left image and the right image;
• estimate an existing area of another vehicle based on a location of the detected wheel of another vehicle;
• and
• output a warning signal when the vehicle enters the existing area of another vehicle;
• and
• a warning unit configured to announce a danger to a driver of the vehicle when receiving the warning signal.