Driver assistance system to compensate for time delays in acquiring the traveling state of a vehicle

A driver assistance system to assist driving of a vehicle, the system comprising:

• an imaging sensor configured to acquire an image including a boundary of a course on which the vehicle is traveling;
• a target path generator configured to generate, using a processor, a target path that is a path on which the vehicle has to travel on the course based on the image;
• a traveling state acquirer configured to acquire, using the processor, a traveling state of the vehicle on the course based on the image;
• and
• a compensator configured to compensate, using the processor, the traveling state for a time delay from an acquisition of the image at the imaging sensor to an acquisition of the traveling state at the traveling state acquirer, and compensate the target path for a time delay from the acquisition of the image at the imaging sensor to generation of the target path at the target path generator,
• wherein a controller is further configured to perform steering control based on both the traveling state that has been compensated for the time delay from the acquisition of the image at the imaging sensor to the acquisition of the traveling state at the traveling state acquirer and the target path that has been compensated for the time delay from the acquisition of the image at the imaging sensor to the generation of the target path at the target path generator.