Smart parking assist system of vehicle and control method thereof

A parking assist system comprising:

• a state sensor to sense a state of a vehicle;
• an obstacle sensor to sense obstacles present at a front side, a rear side or lateral sides of the vehicle;
• an interface to provide a driver with information about a state or operation of the vehicle;
• and
• a controller to compute a parking path for the vehicle based on results of sensing by the state sensor and the obstacle sensor, control steering of the vehicle such that the vehicle is parked at a target position along the computed parking path, and announce, to the driver, manipulations required during parking of the vehicle at the target position, through the interface,
• wherein, when the vehicle reaches the target position, the controller controls steering of the vehicle to position the vehicle at a center of the target position, based on information related to situations at the front and rear sides of the vehicle sensed by the obstacle sensor,
• wherein, when the vehicle reaches the target position, the controller turns a steering wheel of the vehicle back to an original position thereof, calculates distances between the vehicle and the obstacles positioned at the front side and the rear side of the vehicle based on the result of sensing by the obstacle sensor when the steering wheel is turned back to the original position, determines whether the vehicle is off the center of the target position based on the calculated distances, and controls steering of the vehicle to position the vehicle at the center of the target position if the vehicle is off the center of the target position.