A driver assistance system for a vehicle, the driver assistance system comprising: a camera (101a; 110) disposed on the vehicle to have a field of view (110a, 110b) of an outside of the vehicle, and configured to acquire external image data; a radar (102a; 120, 130) disposed on the vehicle to have a field of sensing of an outside of the vehicle, and configured to acquire radar data; and a controller including a processor configured to: acquire lane information regarding a travel lane of the vehicle and sensing information regarding a nearby vehicle on the basis of the image data, wherein the sensing information includes at least one of vertex coordinates, a width, a length or a heading angle, of the nearby vehicle, and the lane information includes at least one of coordinates, a trajectory, a width, an angle or an interval, of the travel lane, wherein each vertex coordinate represents a point where edges of the nearby vehicle meet: process the image data and the radar data; determine whether the nearby vehicle is predicted to cut in the travel lane on the basis of the image data, and when it is determined that the nearby vehicle is predicted to cut in the travel lane, to determine a cut-in area of the nearby vehicle on the basis of the image data acquired by the camera (101a; 110); determine a target vehicle on the basis of the determined cut-in area; and control at least one of a braking device or a steering device of the vehicle to avoid a collision with the target vehicle, wherein the controller is configured to acquire coordinates of a contact point (X5, X6) of the travel lane and the nearby vehicle on the basis of the image data, wherein the sensing information further includes the acquired coordinates of the contact point (X5, X6), wherein the controller is configured to determine the cut-in area of the nearby vehicle on the basis of the lane information, the coordinates of the contact point (X5, X6), and the vertex coordinates of the nearby vehicle. a camera (101a; 110) disposed on the vehicle to have a field of view (110a, 110b) of an outside of the vehicle, and configured to acquire external image data; a radar (102a; 120, 130) disposed on the vehicle to have a field of sensing of an outside of the vehicle, and configured to acquire radar data; and a controller including a processor configured to: acquire lane information regarding a travel lane of the vehicle and sensing information regarding a nearby vehicle on the basis of the image data, wherein the sensing information includes at least one of vertex coordinates, a width, a length or a heading angle, of the nearby vehicle, and the lane information includes at least one of coordinates, a trajectory, a width, an angle or an interval, of the travel lane, wherein each vertex coordinate represents a point where edges of the nearby vehicle meet: process the image data and the radar data; determine whether the nearby vehicle is predicted to cut in the travel lane on the basis of the image data, and when it is determined that the nearby vehicle is predicted to cut in the travel lane, to determine a cut-in area of the nearby vehicle on the basis of the image data acquired by the camera (101a; 110); determine a target vehicle on the basis of the determined cut-in area; and control at least one of a braking device or a steering device of the vehicle to avoid a collision with the target vehicle, wherein the controller is configured to acquire coordinates of a contact point (X5, X6) of the travel lane and the nearby vehicle on the basis of the image data, acquire lane information regarding a travel lane of the vehicle and sensing information regarding a nearby vehicle on the basis of the image data, wherein the sensing information includes at least one of vertex coordinates, a width, a length or a heading angle, of the nearby vehicle, and the lane information includes at least one of coordinates, a trajectory, a width, an angle or an interval, of the travel lane, wherein each vertex coordinate represents a point where edges of the nearby vehicle meet: process the image data and the radar data; determine whether the nearby vehicle is predicted to cut in the travel lane on the basis of the image data, and when it is determined that the nearby vehicle is predicted to cut in the travel lane, to determine a cut-in area of the nearby vehicle on the basis of the image data acquired by the camera (101a; 110); determine a target vehicle on the basis of the determined cut-in area; and control at least one of a braking device or a steering device of the vehicle to avoid a collision with the target vehicle, wherein the controller is configured to acquire coordinates of a contact point (X5, X6) of the travel lane and the nearby vehicle on the basis of the image data, wherein the sensing information further includes the acquired coordinates of the contact point (X5, X6), wherein the controller is configured to determine the cut-in area of the nearby vehicle on the basis of the lane information, the coordinates of the contact point (X5, X6), and the vertex coordinates of the nearby vehicle.