| 摘要 |
A method for assisting parking according to an embodiment of the present invention is performed by a parking assistance apparatus to assist a vehicle in being parked in a parking space between multiple obstacles. The method for assisting parking comprises the following steps of: generating boundary trajectories between the multiple obstacles and the vehicle by steering and moving the vehicle at a particular angle after moving the vehicle forward up to a given distance; calculating a gradient of a trajectory corresponding to a virtual curb in the parking space among the boundary trajectories; and calculating a compensation steering angle by comparing the gradient of the vehicle with the gradient of the trajectory, and moving the vehicle backwards by complementing the steering angle of the vehicle according to the compensation steering angle. As a result, according to the present invention, although a vehicle to be parked is located askew, the vehicle can be automatically parked by accurately moving the vehicle in a parking space between obstacles which are parked vertically. |
