A driver assistance system includes an image sensor and a radar mounted to a vehicle and each having a sensing field oriented toward the outside of the vehicle. A controller processes the image data acquired by the camera and the radar data acquired by the radar, detects a stationary obstacle ahead of the vehicle on the basis of the image data or radar data, determines a monitoring range around a location of the stationary obstacle on the basis of the radar data, identifies an object present within the monitoring range on the basis of the radar data, and determines the object as a pedestrian on the basis of a speed of the object toward a road along which the vehicle travels.