An apparatus configured to prevent at least one vulnerable road user (VRU) from having an accident including a driver monitoring unit configured to utilize at least one sensor provided in a vehicle to detect a gaze area corresponding to a gaze direction of a driver of the vehicle, a VRU monitoring unit configured to calculate position information including current position and predicted motion information of the VRU existing in a peripheral area of the vehicle, the VRU is detected by using the at least one sensor, a detection unit configured to detect whether the driver is aware of the VRU and whether the VRU is aware of the driver based on a gaze area of the driver and the position information of the VRU, and a warning processing unit configured to output warning information on a dangerous situation to some or all of the driver and the VRU in response to a detection result of the detection unit.