A driver assistance system includes a travel information receiving unit configured to receive travel information on nearby vehicles using inter-vehicle communication; a travel path generation unit configured to generate a travel path of each nearby vehicle; a crossing point calculation unit configured to extract the travel paths generated and crossing each other, and to calculate a crossing point of the extracted travel paths; a grade separation determination unit configured to perform determination as to whether the crossing point is a grade-separated junction, and to determine that the crossing point is the grade-separated junction in a case where a time difference is equal to or smaller than a specified threshold, the time difference being calculated from times at which the nearby vehicles traveling on the extracted travel paths pass the crossing point; and a driver assistance changing unit configured to change driver assistance based on a result of the determination.