Disclosed herein is a driver assistance apparatus comprising a processor (170, 770) and an output unit (180, 740). The processor (170, 770) is 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 at least one lane is not identified, generate virtual lane information. The output unit (180, 740) is configured to output one or more virtual lanes (L1-L3) based on the generated virtual lane information and comprises a display unit (181, 741) that is a head up display, wherein the head up display is configured to display, on a windshield (W), the one or more virtual lanes (L1-L3) as an augmented reality image that corresponds to an external image that is reflected through the windshield (W).