A driver assistance apparatus , comprising: a processor configured to: access at least one of image information, distance information, sensor information, navigation information, secondary information, or adjacent vehicle information, determine whether at least one lane is identified based on the at least one of image information, distance information, sensor information, navigation information, secondary information, or adjacent vehicle information, and based on determining that the at least one lane is not identified, generate virtual lane information; a camera configured to capture one or more images around a vehicle to acquire the image information; a communication unit configured to receive the navigation information and the adjacent vehicle information, and transmit and receive data with at least one other vehicle (71 to 75) within a certain distance from the vehicle ; and an output unit configured to output one or more virtual lanes (L71 to L75) based on the generated virtual lane information, wherein the output unit comprises a display unit that is a head up display, the head up display being configured to display, on a windshield, the one or more virtual lanes (L71 to L75) as an augmented reality image that corresponds to an external image that is reflected through the windshield, wherein the processor is further configured to perform calibration to allow the one or more virtual lanes (L71 to L75) to match one or more virtual lanes (L71 to L75) of the at least one other vehicle (71 to 75), characterized in that the processor is configured to transmit the generated virtual lane information to the at least one other vehicle (71 to 75), and receive at least one virtual lane (L71 to L75) information respectively generated by the at least one other vehicle (71 to 75) to generate common virtual lanes (C71 to C75) between the vehicle and the at least one other vehicle (71 to 75). access at least one of image information, distance information, sensor information, navigation information, secondary information, or adjacent vehicle information, determine whether at least one lane is identified based on the at least one of image information, distance information, sensor information, navigation information, secondary information, or adjacent vehicle information, and based on determining that the at least one lane is not identified, generate virtual lane information; a camera configured to capture one or more images around a vehicle to acquire the image information; a communication unit configured to receive the navigation information and the adjacent vehicle information, and transmit and receive data with at least one other vehicle (71 to 75) within a certain distance from the vehicle ; and an output unit configured to output one or more virtual lanes (L71 to L75) based on the generated virtual lane information, wherein the output unit comprises a display unit that is a head up display, the head up display being configured to display, on a windshield, the one or more virtual lanes (L71 to L75) as an augmented reality image that corresponds to an external image that is reflected through the windshield, wherein the processor is further configured to perform calibration to allow the one or more virtual lanes (L71 to L75) to match one or more virtual lanes (L71 to L75) of the at least one other vehicle (71 to 75), characterized in that the processor is configured to transmit the generated virtual lane information to the at least one other vehicle (71 to 75), and receive at least one virtual lane (L71 to L75) information respectively generated by the at least one other vehicle (71 to 75) to generate common virtual lanes (C71 to C75) between the vehicle and the at least one other vehicle (71 to 75). <EOS>