Autonomous vehicle and controlling method thereof

A driver assist apparatus, comprising:

• an interface device electrically connected to at least one object detecting device on an autonomous vehicle, and a communication device;
• at least one processor;
• and
• a non-transitory computer-readable medium coupled to the at least one processor having stored thereon instructions which, when executed by the at least one processor, causes the at least one processor to perform operations comprising:
• transmitting, through the communication device to a server, a request for parking slot information;
• receiving, through the communication device from the server, the parking slot information;
• selecting, by a user of the autonomous vehicle or by the at least one processor, a target parking slot based on the parking slot information;
• receiving, through the communication device from the server at a first time, a first level route from a current location of the autonomous vehicle to the target parking slot;
• generating a second level route based on (i) sensing information in a sensing area of the object detecting device and (ii) the first level route;
• and
• controlling the autonomous vehicle to drive to the target parking slot based on the second level route.