SYSTEM FOR DRIVER ASSISTANCE AND METHOD FOR DRIVER ASSISTANCE

Disclosed herein is a system includes a camera having a field of view around a host vehicle and configured to output image data, a radar having a sensing area around the host vehicle and configured to output radar data, and a controller electrically connected to the camera and the radar. The controller may determine a future traveling path of the host vehicle based on a preceding direction of the host vehicle from the image data and/or the radar data, determine a future traveling path of a crossing vehicle based on a preceding direction of the crossing vehicle moving in a direction crossing the preceding direction of the host vehicle, determine a point at which the future traveling path of the host vehicle crosses the future traveling path of the crossing vehicle as a predicted collision position, determine whether yielding intention of a driver of the crossing vehicle is present when the crossing vehicle approaches the predicted collision position, and avoid a collision with the crossing vehicle based on the yielding intention of the driver of the crossing vehicle.