An apparatus for controlling parking of a vehicle equipped with a radar sensor, the apparatus comprising: a processor configured to: obtain an input signal for parking control and determine whether to start a parking control operation; detect a candidate parking space by using sensing information obtained from the radar sensor; determine whether the candidate parking space is narrower than a space needed to park the vehicle, and upon determining that the candidate parking space is narrower than the space needed to park the vehicle, further determine whether another parked vehicle is present with an available space to concede to the vehicle, and; determine whether the other parked vehicle is a self-parking capable vehicle that is capable of performing parking without a driver's intervention; characterized in that the processor is further configured to, upon determining that the other parked vehicle is present with the available space to concede to the vehicle, detect whether or not the other parked vehicle carries a driver; the apparatus further comprising: a radar controller configured, upon starting the parking control operation, to set a detection mode of the radar sensor to a normal detection mode or a heartbeat detection mode according to a type of a target to be detected, to set a frequency band, a detection angle, or a detection range of the radar sensor for detecting the target, and to calculate information about the target; and a communication signal transmitter configured, upon a detection of the driver within the other parked vehicle, to send a signal of asking the driver about repositioning the other parked vehicle. a processor configured to: obtain an input signal for parking control and determine whether to start a parking control operation; detect a candidate parking space by using sensing information obtained from the radar sensor; determine whether the candidate parking space is narrower than a space needed to park the vehicle, and upon determining that the candidate parking space is narrower than the space needed to park the vehicle, further determine whether another parked vehicle is present with an available space to concede to the vehicle, and; determine whether the other parked vehicle is a self-parking capable vehicle that is capable of performing parking without a driver's intervention; obtain an input signal for parking control and determine whether to start a parking control operation; detect a candidate parking space by using sensing information obtained from the radar sensor; determine whether the candidate parking space is narrower than a space needed to park the vehicle, and upon determining that the candidate parking space is narrower than the space needed to park the vehicle, further determine whether another parked vehicle is present with an available space to concede to the vehicle, and; determine whether the other parked vehicle is a self-parking capable vehicle that is capable of performing parking without a driver's intervention; characterized in that the processor is further configured to, upon determining that the other parked vehicle is present with the available space to concede to the vehicle, detect whether or not the other parked vehicle carries a driver; the apparatus further comprising: a radar controller configured, upon starting the parking control operation, to set a detection mode of the radar sensor to a normal detection mode or a heartbeat detection mode according to a type of a target to be detected, to set a frequency band, a detection angle, or a detection range of the radar sensor for detecting the target, and to calculate information about the target; and a communication signal transmitter configured, upon a detection of the driver within the other parked vehicle, to send a signal of asking the driver about repositioning the other parked vehicle. a radar controller configured, upon starting the parking control operation, to set a detection mode of the radar sensor to a normal detection mode or a heartbeat detection mode according to a type of a target to be detected, to set a frequency band, a detection angle, or a detection range of the radar sensor for detecting the target, and to calculate information about the target; and a communication signal transmitter configured, upon a detection of the driver within the other parked vehicle, to send a signal of asking the driver about repositioning the other parked vehicle.