A method of generating an optimum parking path of an unmanned driving vehicle, the method comprising: generating a reference parking path by selectively combining a plurality of operations which comprise head-in straight driving, head-out straight driving, head-in left turning, head-out left turning, head-in right turning, and head-out right turning; and changing a moving distance in the reference parking path to find a parking path in which an average obstacle distance, which is an average distance between at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701, 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle, is longest among a plurality of candidate parking paths characterized in that the changing the moving distance further comprises: obtaining the average distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in one parking path, wherein the obtaining the average distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in one parking path comprises: calculating a shortest distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in respective positions when assuming that the positions of the unmanned driving vehicle are disposed to overlap each other along the parking path; totaling results of the calculated shortest distance, and setting a value which is obtained by the totaling of the results as the average distance. generating a reference parking path by selectively combining a plurality of operations which comprise head-in straight driving, head-out straight driving, head-in left turning, head-out left turning, head-in right turning, and head-out right turning; and changing a moving distance in the reference parking path to find a parking path in which an average obstacle distance, which is an average distance between at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701, 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle, is longest among a plurality of candidate parking paths characterized in that the changing the moving distance further comprises: obtaining the average distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in one parking path, wherein the obtaining the average distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in one parking path comprises: calculating a shortest distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in respective positions when assuming that the positions of the unmanned driving vehicle are disposed to overlap each other along the parking path; totaling results of the calculated shortest distance, and setting a value which is obtained by the totaling of the results as the average distance. obtaining the average distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in one parking path, wherein the obtaining the average distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in one parking path comprises: calculating a shortest distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in respective positions when assuming that the positions of the unmanned driving vehicle are disposed to overlap each other along the parking path; totaling results of the calculated shortest distance, and setting a value which is obtained by the totaling of the results as the average distance. calculating a shortest distance between the at least one near-to-path obstacle (301, 302, 303, 401, 402, 403, 501, 502, 601, 602, 701 702, 801, 802, 1101, 1102, 1301, 1302, 1501, 1502) and the unmanned driving vehicle in respective positions when assuming that the positions of the unmanned driving vehicle are disposed to overlap each other along the parking path; totaling results of the calculated shortest distance, and setting a value which is obtained by the totaling of the results as the average distance.