Warning method of driver assistance system for vehicle

An embodiment of the present invention relates to a vehicle safety system. When various safety systems are mounted on a vehicle, adjustments between different safety systems are needed. For example, when all the safety systems mounted on the vehicle use an identical warning scheme, a driver has difficulty grasping which system gives a warning. In addition, warning methods are required to be different among homogeneous systems in dangerous situations. According to an embodiment of the present invention, warnings are given through differentiated warning methods depending on dangerous situations between heterogeneous systems or even among homogeneous systems.