Provided is a driver assistance system. The driver assistance system is provided in a vehicle.
The driver assistance system includes an image acquisition part configured to acquire image information about an obstacle; a yaw rate detector configured to detect a yaw rate of a vehicle body; and a controller configured to, when a shift lever is diagnosed as failure, recognize a rotation direction of the vehicle body based on the detected yaw rate of the vehicle body, recognize a position change of the obstacle in an image based on the acquired image information, and recognize whether a moving direction of the vehicle body is a backward direction or a forward direction based on the recognized rotation direction of the vehicle body and the recognized position change of the obstacle.