Driver assistance system controller and driver assistance control method for vehicles

There are provided a navigation apparatus, a forward recognition apparatus using a camera or the like, which can capture a situation around the vehicle and calculate a distance to a particular object and a relative velocity, and sensors mounted on the vehicle to acquire the driving status of the vehicle. Whether to continue or suspend driver assistance control based on output information from the forward recognition apparatus using a camera or the like is determined according to driving environment information obtained from the navigation apparatus or the forward recognition apparatus using a camera or the like. If the visibility is determined to be poor from information from the sensors, the driver assistance control based on the output information from the forward recognition apparatus is suspended.