Parking assistance apparatus and vehicle including the same

1. A parking assistance apparatus, comprising:

at least one sensor configured to sense vehicle surroundings;

an interface configured to receive at least one of brake operation input information, accelerator operation input information, or steering operation input information;

a display configured to display a graphic image for an automatic parking function; and

at least one processor configured to:

determine a first target parking space based on information about the vehicle surroundings sensed by the at least one sensor;

determine a first parking path that directs a vehicle to the first target parking space; and

perform the automatic parking function by controlling the vehicle according to a first control manner to follow the first parking path,

wherein the at least one processor is configured to, based on an operation input of a user being detected in information received through the interface:

based on the operation input satisfying a first condition, perform the automatic parking function according to a second control manner, different from the first control manner, that accounts for the operation input of the user; and

based on the operation input satisfying a second condition, disengage the automatic parking function,

wherein the detected operation input of the user is a brake operation input indicated in the brake operation input information received through the interface, and

wherein the at least one processor is configured to, based on a brake operation value indicated in the brake operation input information exceeding a threshold value, pause the automatic parking function.

2. The parking assistance apparatus of claim 1 , wherein:

the brake operation input satisfying the second condition comprises a duration of the brake operation input exceeding a threshold duration of time, and

the at least one processor is configured to disengage the automatic parking function based on the duration of the brake operation input exceeding the threshold duration of time.

3. The parking assistance apparatus of claim 1 , wherein:

the brake operation input satisfying the first condition comprises a duration of the brake operation input being less than or equal to a threshold duration of time, and

the at least one processor is configured to resume the automatic parking function based on the duration of the brake operation input being less than or equal to the threshold duration of time.

4. The parking assistance apparatus of claim 1 , wherein:

the detected operation input of the user is a brake operation input indicated in the brake operation input information received through the interface,

the brake operation input satisfying the first condition comprises a brake operation value indicated in the brake operation input information being less than or equal to a threshold value, and

the at least one processor is configured to maintain performing the automatic parking function based on the brake operation value being less than or equal to the threshold value.

5. The parking assistance apparatus of claim 4 , wherein:

based on the brake operation input satisfying the first condition, performing the automatic parking function according to the second control manner that accounts for the brake operation input of the user comprises:

based on the vehicle travelling at a lower speed according to the brake operation input, adjusting an automatic steering control value of the automatic parking function that controls the vehicle to follow the first parking path at the lower speed; and

controlling the vehicle to follow the first parking path at the lower speed according to the adjusted automatic steering control value.

6. The parking assistance apparatus of claim 4 , wherein:

based on the brake operation input satisfying the first condition, performing the automatic parking function according to the second control manner that accounts for the brake operation input of the user comprises:

based on a parking speed of the automatic parking function being set by a user in a state in which the vehicle travels at a lower speed according to the brake operation input, performing the automatic parking function with the lower speed being set as the parking speed of the automatic parking function.

7. The parking assistance apparatus of claim 4 , wherein:

based on the brake operation input satisfying the first condition, performing the automatic parking function according to the second control manner that accounts for the brake operation input of the user comprises:

based on the vehicle stopping according to the brake operation input, pausing the automatic parking function.

8. The parking assistance apparatus of claim 1 , wherein:

the detected operation input of the user is an accelerator operation input indicated in the accelerator operation input information received through the interface,

the accelerator operation input satisfying the second condition comprises an accelerator operation value exceeding a threshold value, and

the at least one processor is configured to disengage the automatic parking function based on the accelerator operation value exceeding the threshold value.

9. The parking assistance apparatus of claim 1 , wherein:

the detected operation input of the user is an accelerator operation input indicated in the accelerator operation input information received through the interface,

the accelerator operation input satisfying the first condition comprises an accelerator operation value being less than or equal to a threshold value, and

the at least one processor is configured to maintain performing the automatic parking function based on the accelerator operation value being less than or equal to the threshold value.

10. The parking assistance apparatus of claim 9 , wherein:

based on the accelerator operation input satisfying the first condition, performing the automatic parking function according to the second control manner that accounts for the accelerator operation input of the user comprises:

based on the vehicle travelling at a higher speed according to the accelerator operation input, adjusting an automatic steering control value of the automatic parking function that controls the vehicle to follow the first parking path at the higher speed; and

controlling the vehicle to follow the first parking path at the higher speed according to the adjusted automatic steering control value.

11. The parking assistance apparatus of claim 9 , wherein:

based on the accelerator operation input satisfying the first condition, performing the automatic parking function according to the second control manner that accounts for the accelerator operation input of the user comprises:

based on a parking speed of the automatic parking function being set by a user in a state in which the vehicle travels at a higher speed according to the accelerator operation input, performing the automatic parking function with the higher speed being set as the parking speed of the automatic parking function.

12. The parking assistance apparatus of claim 9 , wherein:

based on the accelerator operation input satisfying the first condition, performing the automatic parking function according to the second control manner that accounts for the accelerator operation input of the user comprises:

based on the vehicle deviating from the first parking path, determining a second parking path, different from the first parking path, that directs the vehicle to the first target parking space; and

performing the automatic parking function by controlling the vehicle to follow the second parking path.

13. The parking assistance apparatus of claim 1 , wherein:

the detected operation input of the user is a steering operation input indicated in the steering operation input information received through the interface,

the steering operation input satisfying the second condition comprises a steering operation value exceeding a threshold value, and

the at least one processor is configured to disengage the automatic parking function based on the steering operation value exceeding the threshold value.

14. The parking assistance apparatus of claim 13 , wherein the at least one processor is further configured to:

in a state in which the automatic parking function is disengaged, and based on a user input for resuming the automatic parking function:

determine a second parking path that directs the vehicle to the first target parking space from a current position of the vehicle; and

perform the automatic parking function by controlling the vehicle to follow the second parking path.

15. The parking assistance apparatus of claim 1 , wherein:

the detected operation input of the user is a steering operation input indicated in the steering operation input information received through the interface,

the steering operation input satisfying the first condition comprises a steering operation value being less than or equal to a threshold value, and

the at least one processor is configured to maintain performing the automatic parking function based on the steering operation value being less than or equal to the threshold value.

16. The parking assistance apparatus of claim 15 , wherein:

based on the steering operation input satisfying the first condition, performing the automatic parking function according to the second control manner that accounts for the steering operation input of the user comprises:

stopping the vehicle; and

determining a second parking path that directs the vehicle to the first target parking space from a stopped location of the vehicle, according to the steering operation value of the steering operation input.

17. The parking assistance apparatus of claim 15 , wherein:

based on the steering operation input satisfying the first condition, performing the automatic parking function according to the second control manner that accounts for the steering operation input of the user comprises:

controlling the vehicle to travel at a parking speed of the automatic parking function; and

determining a second parking path that directs the vehicle to the first target parking space from a travelling location of the vehicle, according to the steering operation value of the steering operation input.

18. The parking assistance apparatus of claim 1 , wherein:

the detected operation input of the user is a steering operation input indicated in the steering operation input information received through the interface, and

the at least one processor is configured to:

based on the steering operation input satisfying a third condition:

determine a second target parking space based on the information about the vehicle surroundings sensed by the at least one sensor; and

determine a second parking path that directs the vehicle to the second target parking space.

19. A vehicle, comprising:

at least one sensor configured to sense vehicle surroundings;

a vehicle driving device comprising:

a brake driving device that operates according to a brake operation input information from a user;

a power source driving device that operates according to an accelerator operation input; and

a steering driving device that operates according to a steering operation input;

a display configured to display a graphic image for an automatic parking function; and

at least one processor configured to:

determine a target parking space based on information about the vehicle surroundings sensed by the at least one sensor;

determine a parking path that directs the vehicle to the target parking space; and

perform the automatic parking function by controlling the vehicle according to a first control manner to follow the parking path,

wherein the at least one processor is configured to, based on detecting an operation input from a user among the brake operation input, the accelerator operation input, or the steering operation input,

perform the automatic parking function according to a second control manner, different from the first control manner, that accounts for the operation input of the user,

wherein the detected operation input of the user is a brake operation input indicated in the brake operation input information, and

wherein the at least one processor is configured to, based on a brake operation value indicated in the brake operation input information exceeding a threshold value, pause the automatic parking function.