Parking assistance device and method

Abstract

A parking assistance apparatus includes a camera configured to capture a rear image of a vehicle, a plurality of sensors configured to sense an obstacle located around the vehicle, a controller configured to generate a parking guide line that guides the vehicle to enter a target parking space, and to assist a driver of the vehicle to park based on a separation distance between a predicted entry trajectory corresponding to a turning angle of the vehicle and the parking guide line, and a display configured to match the rear image of the vehicle with the parking guide line and to display.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a parking assistance apparatus and method. BACKGROUND

[0002] Generally, there are processes using sensors, processes using cameras, or processes using sensors and cameras in a complicated manner, as a process of informing a driver of a distance between a vehicle and an object located behind the vehicle when the vehicle is running in reverse or parking in reverse.

[0003] The process using sensors can include, for example, a parking distance warning (PDW) system. A plurality of ultrasonic sensors are loaded into a rear bumper of a vehicle. The process using sensors calculates a distance between the vehicle and the object located behind the vehicle based on a time required for an ultrasonic wave emitted by the ultrasonic sensor to hit the object and return, starts outputting a warning sound when the calculated distance is less than a threshold, and outputs a higher warning sound or a warning sound with a shorter duration as the distance is shorter.

[0004] The process using cameras can include, for example, a rear view monitor (RVM). A camera that captures an image of the rear of the vehicle is installed in a trunk lid. The process using cameras displays the image captured by the camera on an audio video navigation (AVN) system so that the driver can safely park while recognizing the situation behind the vehicle.

[0005] When the vehicle is operated in a reverse parking mode, such a process using cameras displays a parking guide line together with the image of the rear of the vehicle, thereby assisting the driver in parking while viewing the parking guide line.

[0006] However, since the parking guide line is a simple form of a guide line, which is interrelated with a steering angle of the vehicle, the driver should reverse while adjusting a steering wheel of the vehicle so that the parking guide line goes to a target parking space.

[0007] In this regard, since the driver reverses while viewing the simple form of the guide line, the sense of perception is lowered, and he or she has difficulty in entering the target parking space without receiving a path to guide the vehicle into the target parking space.

[0008] The details described in the background are written to increase the understanding of the background of the present disclosure, which can include details other than the prior art well known to those skilled in the art. SUMMARY

[0009] The present disclosure relates to a parking assistance apparatus and method. Embodiments relate to a technology that assists a driver in safely parking in a target parking space.

[0010] Embodiments of the present disclosure can solve problems occurring in the related art while maintaining advantages obtained by the related art.

[0011] Embodiments of the disclosure provide a parking assistance apparatus for displaying a parking guide line (a parking guide track) that safely guides a vehicle into a target parking space when parking, warning a user of a wrong entry of the vehicle based on a separation distance between a predicted entry track corresponding to a steering angle of the vehicle and the parking guide line, and displaying a steering direction of a steering wheel that allows the vehicle to follow the parking guide line at the time of the warning, to allow a driver to safely park the vehicle in the target parking space, and a method thereof.

[0012] The technical problems to be solved by the embodiments of the present application are not limited to the above problems, and any other technical problems not mentioned herein can be clearly understood by those skilled in the art from the following description. In addition, it can be easily seen that the purposes and advantages of the embodiments of the disclosure can be achieved by the means indicated in the claims and combinations thereof.

[0013] According to embodiments of the disclosure, the parking assistance apparatus can include a camera that captures a rear image of the vehicle; a plurality of sensors that sense obstacles located around the vehicle; a controller that generates a parking guide line that safely guides the vehicle to a target parking space, and assists a driver of the vehicle in parking based on a separation distance between a predicted entry track corresponding to a steering angle of the vehicle and the parking guide line, and a display that matches the rear image of the vehicle with the parking guide line and displays.

[0014] In embodiments of the disclosure, when the separation distance is greater than a reference value, the controller can control the display to display a steering direction of the steering wheel that allows the vehicle to follow the parking guide line.

[0015] In embodiments of the disclosure, the controller can control the display to display an animation of where the steering wheel is rotated.

[0016] In embodiments of the disclosure, when the separation distance is greater than a reference value, the controller can control the display to display a proximity image including the vehicle and the obstacle.

[0017] In embodiments of the disclosure, the controller can control the display to display the separation distance between the vehicle and the obstacle on the proximity image.

[0018] In embodiments of the disclosure, the controller can update the separation distance between the vehicle and the obstacle in real time as the vehicle travels.

[0019] In embodiments of the disclosure, the controller can control the display to represent the predicted entry track as a plurality of arrows.

[0020] In embodiments of the disclosure, the controller can control the display to display the plurality of arrows in green when the predicted entry track is safe, and in red when the predicted entry track is dangerous.

[0021] In an embodiment of the disclosure, the controller can control the display to light up the plurality of arrows in a moving order with respect to the vehicle.

[0022] According to another embodiment of the disclosure, the parking assistance method can include capturing a rear image of the vehicle through a camera; sensing obstacles located around the vehicle through a plurality of sensors; generating a parking guide line to safely guide the vehicle to a target parking space through a controller; and assisting a driver of the vehicle to park based on a separation distance between a predicted entry trajectory corresponding to a turning angle of the vehicle and the parking guide line through the controller, and matching and displaying the rear image of the vehicle with the parking guide line through a display.

[0023] In an embodiment of the disclosure, the assisting the driver to park can include controlling the display to display a turning direction of a steering wheel, which allows the vehicle to follow the parking guide line when the separation distance is greater than a reference value.

[0024] In an embodiment of the disclosure, the assisting the driver to park can further include controlling the display to display an animation of where the steering wheel is rotated.

[0025] In an embodiment of the disclosure, the assisting the driver to park can include controlling the display to display a proximity image including the vehicle and the obstacles when the separation distance is greater than the reference value.

[0026] In an embodiment of the disclosure, the assisting the driver to park can further include controlling the display to display the separation distance between the vehicle and the obstacles on the proximity image.

[0027] In an embodiment of the disclosure, the assisting the driver to park can further include updating the separation distance between the vehicle and the obstacles when the vehicle is reversing.

[0028] In an embodiment of the disclosure, the assisting the driver to park can include controlling the display to represent the predicted entry trajectory as a plurality of arrows.

[0029] In an embodiment of the disclosure, the assisting the driver to park can further include controlling the display to display the plurality of arrows in green when the predicted entry trajectory is safe, and to display the plurality of arrows in red when the predicted entry trajectory is dangerous.

[0030] In an embodiment of the disclosure, the assisting the driver to park can further include controlling the display to light up the plurality of arrows in a moving order with respect to the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0031] The above and other objects, features and advantages of embodiments of the disclosure will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0032] Figure 1is a block diagram illustrating a configuration of a parking assistance device according to an embodiment of the present disclosure;

[0033] Figure 2A is a diagram illustrating an example of a parking assistance process in a controller provided in a parking assistance device according to an embodiment of the present disclosure;

[0034] Figure 2B is a diagram illustrating another example of a parking assistance process in a controller provided in a parking assistance device according to an embodiment of the present disclosure;

[0035] Figure 2C is a diagram illustrating an example of a side view image provided by a controller provided in a parking assistance device according to an embodiment of the present disclosure at the time of warning;

[0036] Figure 2D is a diagram illustrating an example of a rear view image provided by a controller provided in a parking assistance device according to an embodiment of the present disclosure;

[0037] Figure 3 is a flowchart illustrating a parking assistance method according to an embodiment of the present disclosure; and

[0038] Figure 4 is a block diagram illustrating a computing system for performing a parking assistance method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. In adding reference numerals to parts in each drawing, it should be noted that even when the same or equivalent parts are shown in other drawings, they are denoted by the same reference numerals. Also, in describing embodiments of the present disclosure, detailed descriptions of well-known features or functions will be omitted in order not to unnecessarily obscure the gist of the present disclosure.

[0040] In describing the components of embodiments according to the present disclosure, terms such as first, second, "A", "B", (a), (b), etc. can be used. These terms are merely intended to distinguish one component from another component, and the terms do not limit the nature, sequence, or order of the components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Such terms, as defined in a generally used dictionary, should be interpreted as having a meaning that is the same as in the context of the relevant art, and should not be interpreted in an ideal or overly formal sense, unless expressly defined in the present application to have such a meaning.

[0041] Figure 1 is a block diagram illustrating a configuration of a parking assistance device according to an embodiment of the present disclosure.

[0042] AsFigure 1 As shown, the parking assistance apparatus according to the embodiment of the present disclosure can include a memory (i.e., storage) 10, a camera 20, an ultrasonic sensor 30, a display 40, an alarm apparatus 50, and a controller 60. In this case, depending on a manner in which the parking assistance apparatus according to the embodiment of the present disclosure is implemented, the respective components can be combined into one component and some components can be omitted.

[0043] Referring to the respective components, first, the memory 10 can store various logics, algorithms, and programs required in the following processes: displaying a parking guide line that safely guides a vehicle into a target parking space at the time of parking; warning a user of an incorrect entry of the vehicle depending on a separation distance between a predicted entry trajectory corresponding to a steering angle of the vehicle and the parking guide line; and displaying a steering direction of a steering wheel that allows the vehicle to follow the parking guide line at the time of the warning.

[0044] The memory 10 can store a logic for calculating a path (trajectory) in which the vehicle safely enters the target parking space at a current position of the vehicle based on an image of the target parking space captured by the camera 20 and information detected by the ultrasonic sensor 30. Such a logic can be implemented as one of various manners generally known.

[0045] The memory 10 can store a logic for recognizing an object (e.g., a host vehicle, an obstacle, etc.) in an image captured by the camera 20 and calculating a separation distance between the recognized host vehicle and the recognized obstacle. Such a logic can be implemented as one of various manners generally known.

[0046] The memory 10 can include at least one type of storage medium such as a flash memory type storage, a hard disk type storage, a micro type storage, a card type storage (e.g., a secure digital (SD) card or an extreme digital (XD) card), a random access memory (RAM), a static RAM (SRAM), a read only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic RAM (MRAM), a magnetic disk, and an optical disk.

[0047] The camera 20 can be a camera used by a surround monitor (SVM) provided in the vehicle, which can include, for example, a front view camera located on a radiator grill of the vehicle to capture an image of a front of the vehicle, a left view camera located on a lower end portion of a left side mirror of the vehicle to capture an image of a left side of the vehicle, a right view camera located on a lower end portion of a right side mirror of the vehicle to capture an image of a right side of the vehicle, and a rear view camera located on a trunk lid to capture an image of a rear of the vehicle.

[0048] The ultrasonic sensor 30 can be installed on a front bumper and a rear bumper of the vehicle to detect an obstacle around the vehicle and measure a distance from the detected obstacle.

[0049] The display 40 can be implemented as a cluster or an audio video navigation (AVN) system, which can display a parking guide line that safely guides the vehicle into a target parking space at the time of parking and can display a steering direction of a steering wheel, which allows the vehicle to follow the parking guide line at the time of warning. In this case, the display 40 can add an animation effect when the steering direction of the steering wheel is displayed. In other words, the display 40 can display an animation of where the steering wheel is rotated under the control of the controller 60.

[0050] The display 40 can display a predicted entry trajectory corresponding to a steering angle of the vehicle. In this case, the display 40 can represent the predicted entry trajectory as a plurality of arrows and can turn on the plurality of arrows in a moving order with respect to a vehicle position under the control of the controller 60. Further, the display 40 can represent the plurality of arrows indicating the predicted entry trajectory of the vehicle in red (as a collision warning) or green (as a normal entry).

[0051] The alarm device 50 can have a microphone. When the predicted entry trajectory of the vehicle is likely to collide with an obstacle (for example, when the predicted entry trajectory of the vehicle is represented in red), the alarm device 50 can output an alarm sound under the control of the controller 60.

[0052] The controller 60 can perform overall control so that the respective components can normally perform their own functions. Such a controller 60 can be implemented in the form of hardware, can be implemented in the form of software, or can be implemented in the form of a combination thereof. Preferably, the controller 60 can be implemented as, but is not limited to, a microprocessor.

[0053] In particular, the controller 60 can perform various controls in displaying a parking guide line that safely guides the vehicle into a target parking space at the time of parking, warning a user of a wrong entry of the vehicle based on a separation distance between a predicted entry trajectory corresponding to a steering angle of the vehicle and the parking guide line, and displaying a steering direction of a steering wheel that allows the vehicle to follow the parking guide line at the time of warning. In this case, the controller 60 can warn a driver of a wrong entry when the separation distance is greater than a reference value.

[0054] Hereinafter, a detailed description will be given of the operation of the controller 60 with reference to Figures 2A to 2D The operation of the controller 60 will be described in detail.

[0055] Figure 2A is a diagram illustrating an example of a parking assistance process in a controller provided in a parking assistance apparatus according to an embodiment of the disclosure, which shows that an obstacle is not located in a target parking space.

[0056] In Figure 2AIn FIG. 21, reference numeral "210" indicates a center line of the vehicle, reference numeral "211" indicates a parking guide line (parking guide track) of the right wheel of the vehicle, and reference numeral "212" indicates a parking guide line (parking guide track) of the left wheel of the vehicle. When the driver sets the reverse parking mode, Figure 1 The controller 60 can detect a line of the target parking space from an image obtained by the camera 20 of the vehicle 10, and can generate the parking guide lines 211 and 212 that safely guide the vehicle into the target parking space based on the detected line of the target parking space. Here, the reverse parking mode can simply mean a state in which the driver has put the vehicle in reverse. In this case, the controller 60 can determine whether to generate the parking guide lines according to whether the line of the parking space is detected. Figure 1

[0057] As shown in FIG. 22, the controller 60 can control the display 40 of the vehicle 10 to match and display the generated parking guide lines 211 and 212 with the rear image of the vehicle. In other words, the controller 60 can control the display 40 to display the generated parking guide lines 211 and 212 together in association with the rear image of the vehicle. Figure 2A Figure 1

[0058] Figure 2B is a diagram illustrating another example of an assist parking process in a controller provided in a parking assist apparatus according to an embodiment of the disclosure, which shows that an obstacle 230 is located in a target parking space.

[0059] In FIG. 23, reference numeral "220" indicates a center line of the vehicle, reference numeral "221" indicates a parking guide line of the right wheel of the vehicle, reference numeral "222" indicates a parking guide line of the left wheel of the vehicle, reference numeral "230" indicates an obstacle, reference numeral "240" indicates a first predicted entry track corresponding to a steering angle of the vehicle, reference numeral "250" indicates a second predicted entry track corresponding to the steering angle of the vehicle, and reference numeral "260" indicates a steering direction of a steering wheel that allows the vehicle to follow the parking guide lines. Figure 2B When the driver sets the reverse parking mode,

[0060] The controller 60 can detect a line of the target parking space from an image obtained by the camera 20 of the vehicle 10, and can generate the parking guide lines 221 and 222 that safely guide the vehicle into the target parking space based on the detected line of the target parking space and information (e.g., position, distance, etc.) about the obstacle obtained by the ultrasonic sensor 30 of the vehicle 10. Here, the reverse parking mode can simply mean a state in which the driver has put the vehicle in reverse. In this case, the controller 60 can determine whether to generate the parking guide lines according to whether the line of the parking space is detected. Figure 1 Figure 1 Figure 1 The controller 60 can detect a line of the target parking space from an image obtained by the camera 20 of the vehicle 10, and can generate the parking guide lines 221 and 222 that safely guide the vehicle into the target parking space based on the detected line of the target parking space and information (e.g., position, distance, etc.) about the obstacle obtained by the ultrasonic sensor 30 of the vehicle 10. Here, the reverse parking mode can simply mean a state in which the driver has put the vehicle in reverse. In this case, the controller 60 can determine whether to generate the parking guide lines according to whether the line of the parking space is detected.​​​​​

[0061] As Figure 2B shown, the controller 60 can control Figure 1 the display 40 to match and display the generated parking guide lines 221 and 222 with the rear image of the vehicle.

[0062] When the predicted entry trajectory in the target parking space of the vehicle is a trajectory predicted to collide with the obstacle 230 like the first predicted entry trajectory 240, the controller 60 can control the display 40 to display the predicted entry trajectory in red. When the predicted entry trajectory in the target parking space of the vehicle is a trajectory predicted not to collide with the obstacle 230 like the second predicted entry trajectory 250, the controller 60 can control the display 40 to display the predicted entry trajectory in green.

[0063] As Figure 2B shown, the controller 60 can represent the first predicted entry trajectory 240 and the second predicted entry trajectory 250 as a plurality of arrows (icons), respectively, and can control the display 40 to light up the plurality of arrows in order of movement of the vehicle position. For example, the controller 60 can control the display 40 to light up the plurality of arrows indicating the second predicted entry trajectory 250 in order according to the position of the vehicle entering the target parking space. In this case, when the vehicle entry is completed, the last arrow can be lit up.

[0064] In Figure 2B the embodiment, as a warning condition at the time of parking, a collision with an obstacle is shown (the predicted entry trajectory is the first predicted entry trajectory 240). However, the purpose of the embodiment of the present disclosure is to allow the driver to enter along the parking guide lines 221 and 222 and assist the driver in parking. Preferably, a condition is set when the separation distance between the predicted entry trajectory of the vehicle and the parking guide line is greater than a reference value. This is because the controller 60 generates the parking guide line taking into account whether there is a collision with an obstacle (for example, obstacle information sensed by the ultrasonic sensor 30).

[0065] Figure 2C is a drawing showing an example of a side view image provided at the time of controller warning provided in the parking assist apparatus according to the embodiment of the present disclosure.

[0066] When the predicted entry trajectory in the target parking space of the vehicle is Figure 2B the first predicted entry trajectory 240, as Figure 2C shown, the controller 60 provided in the parking assist apparatus according to the embodiment of the present disclosure can control Figure 1The display 40 of FIG. 1 can display the interval distance 270 between the vehicle and the obstacle 280 and the side view image of the vehicle (e.g., the indirect proximity image of the obstacle 280). In this case, the controller 60 can detect the interval distance 270 between the vehicle and the obstacle 280 based on the side view image. In particular, when the vehicle is reversing, the controller 60 can update the interval distance 270 in real time. Of course, the controller 60 can detect the interval distance through the ultrasonic sensor located at one side of the vehicle. Further, the controller 60 can display the proximity image in the form of a pop-up window.

[0067] Figure 2D FIG. 1 is a diagram illustrating an example of a rear image provided by a controller provided in a parking assistance apparatus according to an embodiment of the disclosure.

[0068] When an obstacle is located behind in the process in which the vehicle enters a target parking space, as shown in FIG. 2, the controller 60 provided in the parking assistance apparatus according to an embodiment of the disclosure can control the display 40 to display the interval distance 270 between the vehicle and the obstacle 280 and the side view image of the vehicle (e.g., the indirect proximity image of the obstacle 280). Figure 2D Figure 1 The display 40 of FIG. 1 can display the interval distance 270 between the vehicle and the obstacle 280 and the side view image of the vehicle (e.g., the indirect proximity image of the obstacle 280). In this case, the controller 60 can detect the interval distance 270 between the vehicle and the obstacle 280 based on the side view image. In particular, when the vehicle is reversing, the controller 60 can update the interval distance 270 in real time. Of course, the controller 60 can detect the interval distance through the ultrasonic sensor located at one side of the vehicle. Further, the controller 60 can display the proximity image in the form of a pop-up window.

[0069] Figure 3 FIG. 1 is a diagram illustrating an example of a rear image provided by a controller provided in a parking assistance apparatus according to an embodiment of the disclosure.

[0070] First, in operation 301, the camera 20 of FIG. 1 can capture a rear image of the vehicle. Figure 1

[0071] In operation 302, the plurality of ultrasonic sensors 30 of FIG. 1 can sense an obstacle located around the vehicle. Figure 1 In operation 303, the controller 60 of FIG. 1 can generate a parking guide line that safely guides the vehicle to a target parking space, and can assist a driver in parking based on an interval distance between a predicted entry trajectory corresponding to a steering angle of the vehicle and the parking guide line.

[0072] Figure 1 In operation 304, the display 40 of FIG. 1 can match and display the rear image of the vehicle with the parking guide line under the control of the controller 60.

[0073] Figure 1

[0074] Figure 4 FIG. 1 is a diagram illustrating an example of a rear image provided by a controller provided in a parking assistance apparatus according to an embodiment of the disclosure.

[0075] Reference will now be made to Figure 4 ​​​​​The above-described parking assistance method according to embodiments of the disclosure can be implemented by a computing system. The computing system 1000 can include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage (i.e., storage device) 1600, and a network interface 1700, which are connected to each other via a bus 1200.

[0076] The processor 1100 can be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 can include various types of volatile or non-volatile storage media. For example, the memory 1300 can include a ROM (Read Only Memory) 1310 and a RAM (Random Access Memory) 1320.

[0077] Accordingly, the operations of the methods or algorithms described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by the processor 1100, or in a combination thereof. A software module can reside in a storage medium (i.e., the memory 1300 and / or the storage 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, SSD (Solid State Drive), removable disk, and CD-ROM. An exemplary storage medium can be coupled to the processor and the processor can read information from the storage medium and can record information in the storage medium. Alternatively, the storage medium can be integrated with the processor 1100. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside within a user terminal. In another case, the processor and the storage medium can reside as separate components in the user terminal.

[0078] The parking assistance apparatus and method according to embodiments of the disclosure can be provided to display a parking guide line that safely guides a vehicle into a target parking space at the time of parking, to warn a user of a wrong entry of the vehicle based on a separation distance between a predicted entry trajectory corresponding to a steering angle of the vehicle and the parking guide line, and to display a steering direction of a steering wheel that allows the vehicle to follow the parking guide line at the time of the warning, thereby allowing a driver to safely park in the target parking space.

[0079] In the foregoing, while the disclosure has been described with reference to the example embodiments and the accompanying drawings, the disclosure is not limited thereto, but can be variously modified and changed by those skilled in the art to which the disclosure pertains without departing from the spirit and scope of the disclosure claimed in the following claims.

[0080] Therefore, the exemplary embodiments of the present disclosure are provided to explain the spirit and scope of the present disclosure, not to limit them, so that the spirit and scope of the present disclosure are not limited by the embodiments. The scope of the present disclosure should be construed with the appended claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present disclosure.

Claims

1. A parking assistance apparatus comprising: a camera configured to capture a rear image of a vehicle; a plurality of sensors configured to sense obstacles located around the vehicle; a controller configured to generate a parking guide line that safely guides the vehicle into a target parking space based on information of the obstacles, and to assist a driver of the vehicle to park based on a separation distance between a predicted entry trajectory corresponding to a steering angle of the vehicle and the parking guide line; and a display configured to match and display the rear image of the vehicle with the parking guide line, wherein the controller is configured to control the display to display a steering direction of a steering wheel that allows the vehicle to follow the parking guide line when the separation distance is greater than a reference value.

2. The parking assistance apparatus according to claim 1, wherein The controller is configured to control the display to display an animation of where the steering wheel is rotated.

3. The parking assistance apparatus according to claim 1, wherein The controller is configured to control the display to display a proximity image including the vehicle and the obstacles when the separation distance is greater than the reference value.

4. The parking assistance apparatus according to claim 3, wherein The controller is configured to control the display to display the separation distance between the vehicle and the obstacles on the proximity image.

5. The parking assistance apparatus according to claim 4, wherein The controller is configured to update the separation distance between the vehicle and the obstacles in real time as the vehicle travels.

6. The parking assistance apparatus according to claim 1, wherein The controller is configured to control the display to represent the predicted entry trajectory as a plurality of arrows.

7. The parking assist apparatus according to claim 6, wherein The controller is configured to control the display to display the plurality of arrows in green when the predicted entry trajectory is safe, and to display the plurality of arrows in red when the predicted entry trajectory is not safe.

8. The parking assistance apparatus according to claim 6, wherein The controller is configured to control the display to light up the plurality of arrows in a sequence of movement with respect to the vehicle. 9.A parking assistance method comprising: capturing a rear image of a vehicle by a camera; sensing obstacles located around the vehicle by a plurality of sensors; generating a parking guide line that safely guides the vehicle into a target parking space based on information of the obstacles by a controller, and assisting a driver of the vehicle to park based on a separation distance between a predicted entry trajectory corresponding to a steering angle of the vehicle and the parking guide line by the controller; and matching and displaying the rear image of the vehicle with the parking guide line by a display, wherein assisting the driver to park comprises: controlling the display to display a steering direction of a steering wheel that allows the vehicle to follow the parking guide line when the separation distance is greater than a reference value.

10. The parking assist method according to claim 9, wherein, Assisting the driver to park further comprises: controlling the display to display an animation of where the steering wheel is rotated.

11. The parking assist method according to claim 9, wherein Assisting the driver to park comprises: controlling the display to display a proximity image including the vehicle and the obstacles.

12. The parking assist method according to claim 11, wherein, Assisting the driver to park further comprises: controlling the display to display the separation distance between the vehicle and the obstacles on the proximity image.

13. The parking assist method according to claim 12, wherein, Assisting the driver to park further comprises: updating the separation distance between the vehicle and the obstacles as the vehicle travels in reverse.

14. The parking assistance method according to claim 9, wherein, Assisting the driver to park comprises: controlling the display to represent the predicted entry trajectory as a plurality of arrows.

15. The parking assist method according to claim 14, wherein, assisting the driver to park further includes: controlling the display to display the plurality of arrows in green color when the predicted entry trajectory is safe, and to display the plurality of arrows in red color when the predicted entry trajectory is not safe.

16. The parking assist method according to claim 14, wherein, assisting the driver to park further includes: controlling the display to light up the plurality of arrows in sequence with respect to movement of the vehicle.

17. A vehicle comprising: a camera disposed on a rear bumper of the vehicle and configured to capture a rear image of the vehicle; a plurality of sensors disposed on the vehicle and configured to sense obstacles located around the vehicle; a controller configured to generate a parking guide line that safely guides the vehicle to enter a target parking space based on information of the obstacles, and to assist a driver of the vehicle to park based on a separation distance between a predicted entry trajectory corresponding to a steering angle of the vehicle and the parking guide line; and a display disposed in the vehicle and configured to match the rear image of the vehicle with the parking guide line and to display, wherein the controller is configured to control the display to display a steering direction of a steering wheel that allows the vehicle to follow the parking guide line when the separation distance is greater than a reference value.

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