Parking assistance apparatus and vehicle having the same

A parking assistance apparatus comprising:

• a sensor configured to obtain environment information of a vehicle surrounding area;
• a display configured to display an image of the vehicle surrounding area;
• and
• a processor configured to:
• determine a boundary line within the vehicle surrounding area based on the environment information,
• divide the surrounding area into a parking area that extends from one side of the boundary line on which parking is allowable and a no parking area that extends from the other side of the boundary line on which parking is not allowable,
• display virtual parking lines in the parking area on the image of the vehicle surrounding area,
• receive an input selecting a candidate parking space within the virtual parking lines,
• set the selected candidate parking space as a target parking position, and
• control a vehicle to move to the target parking position,
• wherein the processor is further configured to:
• detect a parking pattern of a parked vehicle within the vehicle surrounding area,
• determine the boundary line based on the parking pattern,
• set an area inside the boundary line including the parked vehicle as the parking area, and
• set an area up to a predetermined distance away from the boundary line as a driving corridor area,
• wherein the processor is further configured to:
• detect a first parking pattern of a first row of parked vehicles on one side of the vehicle surrounding area and a second parking pattern of a second row of parked vehicles on another side of the vehicle surrounding area,
• determine a first boundary line based on the first parking pattern,
• determine a second boundary line based on the second parking pattern,
• divide the vehicle surrounding area into the parking area and a no parking area based on the first boundary line and the second boundary line, and
• generate the virtual parking lines in the parking based on the first and second parking patterns, and
• wherein the processor is further configured to generate the virtual parking lines for a parallel parking method for double parking when a distance between the first boundary line and the second boundary is greater than or equal to a predetermined distance.

A parking assistance apparatus comprising:

• a sensor configured to sense environment information of a vehicle surrounding area;
• a display configured to display an image of the vehicle surrounding area;
• and
• a processor configured to:
• determine a parking area within the vehicle surrounding area on which parking is allowable,
• generate virtual parking lines within the parking area, and control the display to display the virtual parking lines,
• receive an input selecting a candidate parking space within the virtual parking lines,
• set the selected candidate parking space as a target parking position, and
• control a vehicle to be driven to the target parking position,
• wherein the processor is further configured to:
• detect a first parking pattern of a first row of parked vehicles on one side of the vehicle surrounding area and a second parking pattern of a second row of parked vehicles on another side of the vehicle surrounding area,
• determine a first boundary line based on the first parking pattern,
• determine a second boundary line based on the second parking pattern,
• divide the vehicle surrounding area into the parking area and a no parking area based on the first boundary line and the second boundary line, and
• generate the virtual parking lines in the parking area based on the first and second parking patterns, and
• wherein the processor is further configured to generate the virtual parking lines for a parallel parking method for double parking when a distance between the first boundary line and the second boundary is greater than or equal to a predetermined distance.