Abstract: A parking trace recognition apparatus. A parking space border line extracting unit receives a signal corresponding to an image of a rear of the vehicle from a camera mounted on the vehicle, and determines a parking space border line. A mapping unit obtains a first equation of the parking space border line through three-dimensional mapping. A directional angle calculating unit calculates coordinates of the intersection between the parking space border line and the vehicle body line based on the first equation and a second equation of the vehicle body line, and calculates a directional angle of the vehicle body line with respect to the parking space border line on the basis of the coordinates of the intersection and the first and second equations. A parking trace calculating unit calculates the parking trace on the basis of a parking start position of the rear of the vehicle, and the directional angle.