A driver assistance system that can reduce time delays in acquiring the traveling state of a vehicle and can stably control the vehicle. In the driver assistance system, a vehicle-mounted camera acquires an image including the boundary of a driving lane on which a vehicle travels. A target path generator generates a target path that is a path, on which the vehicle has to travel on the driving lane, based on the image. A traveling state acquirer acquires the traveling state of the vehicle on the driving lane based on the image. A controller performs steering control for causing the vehicle to travel along the target path based on the target path and the traveling state. A compensator compensates a time delay when the traveling state acquirer acquires the traveling state.