Abstract: A route guidance apparatus includes: a reservation information communications unit to receive reservation information which includes at least one of a parking-reserved space of the parking lot, a vehicle type, a vehicle number, and a parking time; a reserved vehicle recognition unit to recognize a vehicle number of a reserved vehicle and determine whether the reserved vehicle enters or exits the parking lot; a traffic flow determination unit that divides an area of each floor of the parking lot into a plurality of unit areas and calculates density within the parking lot based on the number of vehicles within each divided unit area; and a parking route generation unit and an exit route generation unit that respectively generate an optimal parking route and an optimal exit route based on the calculated density; and a route guidance unit to provide the user with the generated optimal parking and exit routes.

Abstract: In an apparatus and method for generating and following an autonomous parking route by use of a vehicle center and a direction vector, the method includes generating autonomous parking route data including direction vectors at each route point and determining the turning center of a vehicle when moving between route points based on the direction vectors at each route point and using the turning center to control steering and speed of each wheel to follow the autonomous parking route.

Abstract: An embodiment method of controlling steering and a speed of each wheel of a vehicle based on a center of turning includes calculating a center point of turning of the vehicle based on driving information of the vehicle, calculating a radius of turning of the vehicle, a steering angle of each wheel, and a radius of turning of each wheel based on the center point of turning, calculating a power frequency of each wheel based on the radius of turning and a required speed, and outputting the steering angle of each wheel into a corresponding steering device and applying power at the power frequency of each wheel to a corresponding in-wheel motor during a period of time during which the vehicle is moved based on the steering angle of each wheel and the power frequency of each wheel.

Abstract: A route guidance apparatus includes: a reservation information communications unit to receive reservation information which includes at least one of a parking-reserved space of the parking lot, a vehicle type, a vehicle number, and a parking time; a reserved vehicle recognition unit to recognize a vehicle number of a reserved vehicle and determine whether the reserved vehicle enters or exits the parking lot; a traffic flow determination unit that divides an area of each floor of the parking lot into a plurality of unit areas and calculates density within the parking lot based on the number of vehicles within each divided unit area; and a parking route generation unit and an exit route generation unit that respectively generate an optimal parking route and an optimal exit route based on the calculated density; and a route guidance unit to provide the user with the generated optimal parking and exit routes.

Abstract: An embodiment apparatus for charging a parking fee includes a reservation information communications device that receives reservation information and transmits the reservation information to a communication terminal, a reserved vehicle recognition device that recognizes a vehicle number of a reserved vehicle and whether the reserved vehicle enters or exits the parking lot by using a camera, a traffic flow determination device that divides an area of each floor of the parking lot into plural areas based on a unit area, receives locations of vehicles within the parking lot, and calculates a density of the vehicles within the parking lot, a driving route generation device that generates an optimal route, a route guidance device that provides the user with the optimal route, and an off-route charging device that charges the user for moving off-route when the reserved vehicle does not move along the optimal route.