Parking asistance system and parking asistance method

The vehicle parking assist systems and methods are disclosed. According to an aspect of the invention, top view or the image combining unit for generating a composite image of the view around the form; Parking-ray detector for detecting the parking line through the image processing of said composite image; Distance and tilt calculation unit for calculating the distance and the inclination (skew) between the detection line and a parked vehicle; And, but generates a moving path for placement of the vehicle to the initial position, the initial position is set to the center of the longitudinal direction of the detected parking line and the vehicle axis is parallel to the detected parking line and the vehicle set distance apart position that is, the movement route generation unit may be provided with a vehicle parking assist system including a.