VERTICAL PARKING METHOD

The present invention discloses a vertical parking method which comprises the steps of: step 1, locating an obstacle when coordinate information of a preset position, close to a first vehicle corner, of a vehicle is located in a starting reference line or on one side, close to an initial vertical parking spot, of the starting reference line, and ultrasonic sensors at the first vehicle corner detect the obstacle, and then executing step 2; step 2, calculating coordinate information of a point O at which the obstacle is most possibly in contact to the vehicle, and calculating coordinate information of an outer boundary of a target vertical parking spot according to the point O, the first vehicle corner and the coordinate information of the outer boundary of the initial vertical parking spot; and step 3, conducting automatic or semi-automatic parking according to the coordinate information of the outer boundary of the target vertical parking spot. The vertical parking method of the present invention may eliminate an estimation error of an original parking spot and increase the accuracy rate that the vehicle is parked into the parking spot.