Parking method, apparatus and system

1 . A parking method comprising:

searching a moving path of a trailer;

giving a movement instruction to a vehicle, when the trailer approaches the moving path recorded in the non-volatile memory;

measuring a current location of the trailer and a current direction of the trailer according to the movement instruction;

comparing a desired location of the trailer and a desired direction of the trailer in the moving path of the trailer with the current location of the trailer and the current direction of the trailer; and

moving the trailer to a parking space by minimizing a difference between the desired location of the trailer in the moving path of the trailer and the current location of the trailer and a difference between the desired direction of the trailer in the moving path of the trailer and the current direction of the trailer,

wherein the moving path of the trailer is recorded or stored based on a trailer pose calculated using a hitch angle between the vehicle and the trailer, a location of the vehicle, and a direction of the vehicle while the trailer is parked or while the trailer is taken out of the parking space,

wherein the moving path of the trailer comprises a new location of the trailer, based on a distance between an initial location of the trailer and the current location of the trailer exceeding a first threshold,

wherein the initial location of the trailer is set to another location, based on a location record count of the trailer and a direction record count of the trailer exceeding a second threshold.

2 . The parking method of claim 1 , wherein searching the moving path of the trailer comprises searching for the moving path of the trailer based on a name that is input by a driver.

3 . The parking method of claim 1 , wherein measuring the current location of the trailer and the current direction of the trailer comprises measuring the current location of the trailer and the current direction of the trailer based on a location of the vehicle, a direction of the vehicle, and an angle of a hitch.

4 . The parking method of claim 1 , wherein the moving path of the trailer comprises a new direction of the trailer, based on a direction between an initial direction of the trailer and the current direction of the trailer exceeding a third threshold.

5 . The parking method of claim 4 , wherein the initial direction of the trailer is set to another direction, based on a location and direction record count of the trailer exceeding a fourth threshold.

6 . The parking method of claim 1 , wherein the moving path of the trailer corresponds to a last section in a process in which the trailer is parked, or corresponds to a first section in a process in which the trailer is taken out of the parking space.

7 . A parking system comprising:

a memory and a plurality of processors,

wherein at least one of the processors is configured to:

search a moving path of a trailer,

give a movement instruction to a vehicle, when the trailer approaches the moving path recorded in a non-volatile memory,

measure a current location of the trailer and a current direction of the trailer according to the movement instruction,

compare a desired location of the trailer and a desired direction of the trailer in the moving path of the trailer with one or both of the current location of the trailer and the current direction of the trailer, and

move the trailer to a parking space by minimizing a difference between the desired location of the trailer in the moving path of the trailer and the current location of the trailer and a difference between the desired direction of the trailer in the moving path of the trailer and the current direction of the trailer,

wherein the moving path of the trailer is recorded or stored based on a trailer pose calculated using a hitch angle between the vehicle and the trailer, a location of the vehicle, and a direction of the vehicle while the trailer is parked or while the trailer is taken out of the parking space,

wherein the moving path of the trailer comprises a new location of the trailer, based on a distance between an initial location of the trailer and the current location of the trailer exceeding a first threshold,

wherein the initial location of the trailer is set to another location, based on a location record count of the trailer and a direction record count of the trailer exceeding a second threshold.

8 . The parking system of claim 7 , wherein the at least one processor is configured to search the moving path of the trailer based on a name that is input by a driver.

9 . The parking system of claim 7 , wherein the at least one processor is configured to measure the current location of the trailer and the current direction of the trailer based on a location of the vehicle, a direction of the vehicle, and an angle of a hitch.

10 . The parking system of claim 7 , wherein the moving path of the trailer comprises a new direction of the trailer, based on a direction between an initial direction of the trailer and the current direction of the trailer exceeding a third threshold.

11 . The parking system of claim 10 , wherein the initial direction of the trailer is set to another direction, based on a location and direction record count of the trailer exceeding a fourth threshold.

12 . The parking system of claim 7 , wherein the moving path of the trailer corresponds to a last section in a process in which the trailer is parked, or corresponds to a first section in a process in which the trailer is taken out of the parking space.