A method and system for searching for a route using road-shoulder parking state information is provided for a vehicle operating in conjunction with a server via a wireless communication network. The method includes identifying vehicles stopped on a shoulder of a road by analyzing an image captured by a camera and determining a vehicle to be reported as being stopped on the shoulder of the road among the identified vehicles stopped on the shoulder of the road. A road-shoulder stop report message is generated corresponding to the determined vehicle to be reported as being stopped on the shoulder of the road and the road-shoulder stop report message is transmitted to the server.