Parking assistance system and parking assistance method

A parking assistance system of a vehicle, the system comprising:

• a processor configured to:
• determine whether or not the vehicle is in a stopped state based on information detected by a sensor included in the vehicle,
• calculate current inclination information, which is an inclination of a road surface on which the vehicle is located, using an inclination sensor included in the vehicle, and identify the stopped state as a current stopped state, wherein the current inclination information is calculated based on sensor values measured at the current stopped state, wherein a current stopped time is a time duration for which the vehicle in the current stopped state remains stopped;
• a memory configured to:
• store the current inclination information as current traveling information when the current inclination information is less than predetermined threshold inclination information and previous traveling information is not stored in the memory, and
• maintain previous inclination information as the current traveling information or update the previous traveling information by changing the previous inclination information to the current inclination information, depending on whether or not the current stopped time is greater than or equal to a first threshold time, wherein the previous inclination information is calculated based on sensor values measured at a previous stopped state, wherein a previous stopped time is a time duration for which the vehicle in the previous stopped state remains stopped, wherein the vehicle does not remain stopped between the previous and current stopped states;
• and
• a controller configured to control the vehicle to move toward the parking space based on the current traveling information stored in the memory,
• herein the controller controls the vehicle to move toward the parking space based on an engine driving torque, the engine driving torque being calculated by adding a compensating driving torque to a basic driving torque corresponding to an even road,
• wherein the compensating driving torque is calculated based on the current traveling information, and changes as the current traveling information is updated, and
• wherein when the current stopped time is less than the first threshold time, the memory is further configured to:
• maintain the previous inclination information included in the previous traveling information when signs of the previous inclination information and the current inclination information are different from each other;
• and
• update the previous traveling information by changing the previous inclination information included in the previous traveling information into the current inclination information when the signs of the previous inclination information and the current inclination information are the same as each other.