A vehicle of the disclosure includes an apparatus for assisting driving of a host vehicle. The apparatus for assisting driving of the host vehicle includes a display configured to display vehicle driving information; an image obtainer configured to obtain an image of a road; a distance detector configured to detect surrounding objects; and a controller configured to calculate notification information based on the obtained image information of the road, the detected surrounding objects, and the vehicle driving information, and to display the calculated notification information to a driver in real time.