A driver assistance apparatus for a vehicle, the driver assistance apparatus comprising: a camera configured to photograph an image (FR1, FR2, 530, 550, 810) of surroundings of a vehicle; an interface; and a processor configured to: detect, based on the image photographed by the camera, a lane (528, 538, 548, 642-648, 710) in which the vehicle travels; acquire braking state information of the vehicle; provide, to a steering apparatus, a signal for steering the vehicle or provide, to a brake apparatus, a signal for one-sided braking through the interface to maintain the vehicle within the lane (528, 538, 548, 642-648, 710) in which the vehicle travels during a braking of the vehicle based on the acquired braking state information, characterized in that the processor is further configured to: acquire distance information (611, 621, 631) regarding a distance between the vehicle and an object ahead of the vehicle that is located within the lane (528, 538, 548, 642-648, 710) in which the vehicle travels; provide the signal for steering to the steering apparatus or provide the signal for one-sided braking to the brake apparatus based on the acquired distance information; provide the signal for one-sided braking to the brake apparatus based on a determination that the distance between the vehicle and the object ahead of the vehicle exceeds a threshold distance; and provide the signal for steering to the steering apparatus based on a determination that the distance between the vehicle and the object ahead of the vehicle is less than the threshold distance. a camera configured to photograph an image (FR1, FR2, 530, 550, 810) of surroundings of a vehicle; an interface; and a processor configured to: detect, based on the image photographed by the camera, a lane (528, 538, 548, 642-648, 710) in which the vehicle travels; acquire braking state information of the vehicle; provide, to a steering apparatus, a signal for steering the vehicle or provide, to a brake apparatus, a signal for one-sided braking through the interface to maintain the vehicle within the lane (528, 538, 548, 642-648, 710) in which the vehicle travels during a braking of the vehicle based on the acquired braking state information, characterized in that the processor is further configured to: acquire distance information (611, 621, 631) regarding a distance between the vehicle and an object ahead of the vehicle that is located within the lane (528, 538, 548, 642-648, 710) in which the vehicle travels; provide the signal for steering to the steering apparatus or provide the signal for one-sided braking to the brake apparatus based on the acquired distance information; provide the signal for one-sided braking to the brake apparatus based on a determination that the distance between the vehicle and the object ahead of the vehicle exceeds a threshold distance; and provide the signal for steering to the steering apparatus based on a determination that the distance between the vehicle and the object ahead of the vehicle is less than the threshold distance. detect, based on the image photographed by the camera, a lane (528, 538, 548, 642-648, 710) in which the vehicle travels; acquire braking state information of the vehicle; provide, to a steering apparatus, a signal for steering the vehicle or provide, to a brake apparatus, a signal for one-sided braking through the interface to maintain the vehicle within the lane (528, 538, 548, 642-648, 710) in which the vehicle travels during a braking of the vehicle based on the acquired braking state information, acquire distance information (611, 621, 631) regarding a distance between the vehicle and an object ahead of the vehicle that is located within the lane (528, 538, 548, 642-648, 710) in which the vehicle travels; provide the signal for steering to the steering apparatus or provide the signal for one-sided braking to the brake apparatus based on the acquired distance information; provide the signal for one-sided braking to the brake apparatus based on a determination that the distance between the vehicle and the object ahead of the vehicle exceeds a threshold distance; and provide the signal for steering to the steering apparatus based on a determination that the distance between the vehicle and the object ahead of the vehicle is less than the threshold distance.