Vehicle and safe parking control unit and control method

The invention provides a vehicle and a safe parking control unit and method thereof. The safe parking control unit comprises a determination module configured to determine a target parking position of a vehicle on a multi-lane road; the creating module is configured to create a braking parameter combination solution space of each lane of the plurality of lanes, and the braking parameter combination solution space comprises a plurality of candidate braking distances on each lane, and a lane changing speed and a lane changing acceleration which correspond to each candidate braking distance and are used for changing the lane from the lane to the next lane; the calculation module is configured to calculate a braking parameter distribution tree, the braking parameter distribution tree comprises a plurality of branches connecting the current position and the target parking position, each branch comprises a plurality of nodes, and each node corresponds to a lane changing position on one of the lanes; the evaluation