US Patent 11904939 Apparatus and method for supporting parking

A parking assistance apparatus includes at least one camera sensor installed in a vehicle, a control unit configured to analyze an image obtained through the camera sensor to recognize a space and object in a parking lot by matching a detailed parking lot map to an object, search for an available parking space by calculating a parking region on the basis of recognized space and object information, and generate a path to the available parking space searched for, or perform autonomous parking until reaching the available parking space, and a storage unit configured to store the detailed parking lot map for recognizing the space and object.