Apparatus for vehicle driving assistance

An apparatus for assisting driving of a vehicle, comprising:

• a road information recognition unit configured to recognize a section having lane markings and a section having no lane markings present on a drive path of a host vehicle;
• a lane information generation unit configured to recognize forward lane markings provided in a direction in which the host vehicle is proceeding;
• a vehicle recognition unit configured to recognize a preceding vehicle that is proceeding ahead of the host vehicle;
• and
• a controller configured to perform following of the preceding vehicle and lateral control of the host vehicle based on at least one piece of information, among information acquired by respectively recognizing the section having lane markings, the section having no lane markings, the forward lane markings, and the preceding vehicle,
• wherein the controller is configured to:
• control the host vehicle based on information acquired by recognizing the forward lane markings when the host vehicle is driving in the section having lane markings;
• and
• control the host vehicle based on information acquired by recognizing the preceding vehicle when the host vehicle is driving in the section having no lane markings.