A method for generating driver assistance information of a traveling vehicle. The method can restructure traveling environments into an image based on a sensor system capable of removing blind spots around a traveling vehicle, and a scheme capable of exactly detecting a lane and a vehicle, and give a collision warning when there is a possibility of collision. Further, the method integrates recognition results of front/rear vehicles based on a lane recognition method applicable to various road environments, including the shape, curvature and loss of a lane, improves the stability of lane recognition, and distinguishes a solid line from a dot line, so it is possible to provide a driver with the subdivided degrees of danger. In addition, when a vehicle deviates from a lane, a voice warning may be output and the position of the vehicle for a road is restructured as an image.