Patent ID: 9361803
Filing Date: 2016-06-07
CPC Classification: B62D,G08G

Claim Text:
1. A parking assistance apparatus for a vehicle, comprising: a parking line detecting unit which detects a left parking line and a right parking line of a parking space based on an image; an obstacle sensing unit which detects an obstacle existing within a predetermined distance based on a sensor; and a route creating unit which combines information about positions of the left parking line, the right parking line, and the obstacle, and creates a parking route, wherein the route creating unit creates a parking guide line in a region which is positioned between the left parking line and the right parking line and spaced apart from the obstacle at a predetermined first distance or more, when the obstacle is detected by the obstacle sensing unit; wherein when an obstacle, which exists in any one region of a region within a predetermined second distance in a left direction from the left parking line and a region within the second distance in a right direction from the right parking line, is detected by the obstacle sensing unit, the route creating unit sets a virtual line, which is further spaced apart from the obstacle between a first virtual line, which is positioned at the same distance from the left parking line and the right parking line, and a second virtual line, which is spaced apart from the obstacle at a predetermined first distance, as the parking guide line.