Abstract: The apparatus of assisting with unparking of a vehicle according to an exemplary embodiment of the present invention includes: a receiving unit configured to receive information obtained by sensing obstacles located at the front, rear, left, and right of a vehicle parked perpendicularly which is a vehicle to be unparked; a condition determining unit configured to determine an unparking condition of the vehicle as any one of the preset conditions by using the obstacles sensing information received by the receiving unit; and a control unit configured to determine an unparking mode of the vehicle as any one of the preset unparking modes based on the condition determined by the condition determining unit and to assist with unparking of the targeted vehicle depending on the determined unparking mode.