Parking assistance system and method for controlling the same

1. A parking assistance system (PAS) comprising:

a state sensing unit that senses a state of a vehicle including speed information and gear information of the vehicle;

an obstacle sensing unit that photographs a forward, backward, or lateral side image of the vehicle and senses an obstacle present on a front, rear, or lateral side of the vehicle; and

a control unit that calculates a parking trajectory based on information about the sensed state and obstacle of the vehicle, and displays the photographed forward or backward image including the calculated parking trajectory based on the sensed gear information of the vehicle, when a speed of the vehicle is less than a preset threshold value, wherein the control unit displays the calculated parking trajectory in different colors depending on a distance from the sensed obstacle.

2. The PAS according to claim 1 , wherein the control unit displays the forward image including the calculated parking trajectory when a forward gear is inputted, and displays the backward image including the calculated parking trajectory when a reverse gear is inputted.

3. The PAS according to claim 2 , wherein the control unit drives at least one of a steering device, an acceleration device, and a braking device so that the vehicle is parked along the calculated parking trajectory.

4. The PAS according to claim 3 , wherein, when the calculated parking trajectory is close to a surrounding obstacle of the vehicle, the control unit gives a warning to a driver.

5. The PAS according to claim 4 , wherein the obstacle sensing unit includes at least one camera sensor for photographing the forward, backward, or lateral side image of the vehicle and at least one ultrasonic sensor for sensing the obstacle present on the front, rear, or lateral side of the vehicle.

6. A method for controlling a PAS comprising:

sensing a state of a vehicle including speed information and gear information of the vehicle;

photographing a forward, backward, or lateral side image of the vehicle;

sensing an obstacle present on a front, rear, or lateral side of the vehicle;

calculating a parking trajectory based on information about the sensed state and obstacle of the vehicle; and

displaying the photographed forward or backward image including the calculated parking trajectory based on the sensed gear information of the vehicle, when a speed of the vehicle is less than a preset threshold value, wherein the calculated parking trajectory is displayed in different colors depending on a distance from the sensed obstacle.

7. The method for controlling a PAS according to claim 6 , wherein the displaying of the photographed forward or backward image includes displaying the forward image including the calculated parking trajectory when a forward gear is inputted, and displaying the backward image including the calculated parking trajectory when a reverse gear is inputted.

8. The method for controlling a PAS according to claim 7 , further comprising:

driving at least one of a steering device, an acceleration device, and a braking device so that the vehicle is parked along the calculated parking trajectory.

9. The method for controlling a PAS according to claim 8 , when the calculated parking trajectory is close to a surrounding obstacle of the vehicle, further comprising:

giving a warning to a driver.