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, provide the control signal to a vehicle control system of the vehicle, and characterized in that the processor is configured to: based on the surrounding situation information, determine whether a preceding object of the vehicle exists while the vehicle is traveling, based on a determination that the preceding object of the vehicle exists while the vehicle is traveling, determine a first distance between the vehicle and the preceding object of the vehicle, and based on a determination of the first distance, generate the control signal that is configured to control at least one of the drive apparatus of the vehicle, the steering apparatus of the vehicle, and/or the brake apparatus of the vehicle to maintain the first distance at a preset first safe distance from the vehicle. 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, provide the control signal to a vehicle control system of the vehicle, and characterized in that the processor is configured to: based on the surrounding situation information, determine whether a preceding object of the vehicle exists while the vehicle is traveling, based on a determination that the preceding object of the vehicle exists while the vehicle is traveling, determine a first distance between the vehicle and the preceding object of the vehicle, and based on a determination of the first distance, generate the control signal that is configured to control at least one of the drive apparatus of the vehicle, the steering apparatus of the vehicle, and/or the brake apparatus of the vehicle to maintain the first distance at a preset first safe distance from 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, provide the control signal to a vehicle control system of the vehicle, and characterized in that the processor is configured to: based on the surrounding situation information, determine whether a preceding object of the vehicle exists while the vehicle is traveling, based on a determination that the preceding object of the vehicle exists while the vehicle is traveling, determine a first distance between the vehicle and the preceding object of the vehicle, and based on a determination of the first distance, generate the control signal that is configured to control at least one of the drive apparatus of the vehicle, the steering apparatus of the vehicle, and/or the brake apparatus of the vehicle to maintain the first distance at a preset first safe distance from the vehicle. based on the surrounding situation information, determine whether a preceding object of the vehicle exists while the vehicle is traveling, based on a determination that the preceding object of the vehicle exists while the vehicle is traveling, determine a first distance between the vehicle and the preceding object of the vehicle, and based on a determination of the first distance, generate the control signal that is configured to control at least one of the drive apparatus of the vehicle, the steering apparatus of the vehicle, and/or the brake apparatus of the vehicle to maintain the first distance at a preset first safe distance from the vehicle.