1. An apparatus for generating driver assistance information of a traveling vehicle, the apparatus comprising: at least one image receiver installed on the traveling vehicle to photograph front/rear images, wherein the image receiver provides the photographed front/rear images; at least one ultrasonic signal receiver installed on the traveling vehicle, wherein the ultrasonic signal receiver emits ultrasonic signals, and computes distance information based on return time of the ultrasonic signals after being reflected from another vehicle; a lane recognizer for detecting a lane from the front/rear images, determining whether the detected lane is one of a solid line and a dot line, and synthesizing recognition results of vehicles to generate an image of a road; a vehicle recognizer for setting a road area as an area of interest by using the lane recognition results of the lane recognizer, detecting a vehicle by using an image and ultrasonic signals, detecting vehicles by using a distance obtained from the ultrasonic signals received from the ultrasonic signal receiver, determining a traveling tendency of a vehicle based on changes in the distance, and outputting a position of the vehicle in a vehicle coordinate system; and an environment restructuring unit for generating the driver assistance information by applying the vehicle detected by the vehicle recognizer to the image restructured by the lane recognizer.