DRIVER ASSISTANCE APPARATUS AND DRIVER ASSISTANCE METHOD

Disclosed herein is a driver assistance apparatus including a camera having a field of view around a vehicle and configured to acquire image data with, a radar installed in the vehicle and having a sensing area around the vehicle to acquire radar data, and a controller configured to process the image data and the radar data, wherein the controller determines whether a collision with a nearby object of the vehicle is predicted in response to processing the image data and the radar data when a traveling mode of the vehicle is an autonomous traveling mode, outputs a warning about risk of the collision when the collision with the object is predicted, and controls at least one of a steering, an acceleration, or a deceleration according to a detected driver's manipulation when detecting the driver's manipulation for at least one of the steering, the acceleration, or the deceleration after outputting the warning.