Driver Assistance System and Vehicle Having the Same

An embodiment vehicle includes a display configured to output visual type alarm information, a sound output device configured to output audible type alarm information, a vibration generator mounted in a driver's seat and configured to output haptic-type alarm information by generating vibration, a sound input device configured to receive a sound, and a controller configured to determine whether a driver is in an utterance state based on sound information about the sound received by the sound input device, determine a visual type and a haptic-type as an alarm type when it is determined that the driver is in the utterance state, and determine a visual type, a haptic-type, and an audible type as the alarm type when it is determined that the driver is not in the utterance state.