Driver assistance apparatus and driver assistance method

A driver assistance apparatus comprising:

• a processor configured to process image data acquired from a camera having a field of view around a vehicle, and radar data acquired from a radar having a sensing area around the vehicle, and
• a memory configured to store programs for processing the image data and the radar data, wherein the processor is configured to:
• determine whether a collision with an object around the vehicle is predicted in response to processing the image data and the radar data when a traveling mode of the vehicle is an autonomous traveling mode;
• output a first warning about risk of the collision when the collision with the object within a predetermined first time is predicted;
• when a driver's intervention in the autonomous traveling is not detected after outputting the first warning, determine whether the collision with the object within a second time shorter than the first time is predicted;
• when the collision with the object within the second time is predicted, output a second warning about the risk of the collision to the driver;
• and
• control at least one of a steering, an acceleration, or a deceleration according to a detected driver's manipulation and cancel the autonomous traveling when detecting the driver's manipulation for at least one of the steering, the acceleration, or the deceleration after outputting the second warning.