A vehicle driving assistance apparatus coupled to a vehicle, comprising: a sensing unit configured to sense an object outside the vehicle; and a processor configured to: obtain surrounding situation information, based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane, based on the determination of whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane, generate a control signal that is configured to control a drive apparatus of the vehicle and/or a steering apparatus of the vehicle and/or a brake apparatus of the vehicle to avoid collision between the vehicle and the object or to perform an action that minimizes an impulse exerted on the vehicle during collision, and provide the control signal to a vehicle control system of the vehicle, characterized in that the processor is further configured to: based on the surrounding situation information, determine a first probability of collision between the vehicle and a first vehicle that approaches the vehicle from the traveling lane, determine whether the first probability of collision satisfies a first threshold, and based on a determination that the first probability of collision satisfies the first threshold, generate the control signal that is configured to control the drive apparatus of the vehicle and/or the steering apparatus of the vehicle and/or the brake apparatus of the vehicle to move the vehicle from the traveling lane to the lateral lane. a sensing unit configured to sense an object outside the vehicle; and a processor configured to: obtain surrounding situation information, based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane, based on the determination of whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane, generate a control signal that is configured to control a drive apparatus of the vehicle and/or a steering apparatus of the vehicle and/or a brake apparatus of the vehicle to avoid collision between the vehicle and the object or to perform an action that minimizes an impulse exerted on the vehicle during collision, and provide the control signal to a vehicle control system of the vehicle, obtain surrounding situation information, based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane, based on the determination of whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane, generate a control signal that is configured to control a drive apparatus of the vehicle and/or a steering apparatus of the vehicle and/or a brake apparatus of the vehicle to avoid collision between the vehicle and the object or to perform an action that minimizes an impulse exerted on the vehicle during collision, and provide the control signal to a vehicle control system of the vehicle, characterized in that the processor is further configured to: based on the surrounding situation information, determine a first probability of collision between the vehicle and a first vehicle that approaches the vehicle from the traveling lane, determine whether the first probability of collision satisfies a first threshold, and based on a determination that the first probability of collision satisfies the first threshold, generate the control signal that is configured to control the drive apparatus of the vehicle and/or the steering apparatus of the vehicle and/or the brake apparatus of the vehicle to move the vehicle from the traveling lane to the lateral lane. based on the surrounding situation information, determine a first probability of collision between the vehicle and a first vehicle that approaches the vehicle from the traveling lane, determine whether the first probability of collision satisfies a first threshold, and based on a determination that the first probability of collision satisfies the first threshold, generate the control signal that is configured to control the drive apparatus of the vehicle and/or the steering apparatus of the vehicle and/or the brake apparatus of the vehicle to move the vehicle from the traveling lane to the lateral lane.