A parking method, system and vehicle

Abstract

The application discloses a parking method, a parking system and a vehicle. The method comprises the following steps: acquiring point cloud information of a mechanical parking space; acquiring a first boundary line and a second boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space; the first boundary line is parallel to the second boundary line; determining a target straight line according to the first boundary line and the second boundary line; the distance from the target straight line to the first boundary line and the second boundary line is equal; and controlling the vehicle to travel along the target straight line so as to make the vehicle stop in the mechanical parking space. Thus, the method can make the vehicle stop in the mechanical parking space smoothly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and in particular to a parking method, a parking system and a vehicle. BACKGROUND

[0002] In recent years, with the gradual maturity of intelligent driving technology, more and more vehicles support intelligent driving, so that the driver can drive the vehicle more safely and conveniently. Intelligent driving technology can be applied in scenarios such as automatic parking, so that the driver does not need to personally control the vehicle, and the vehicle can also be parked into a parking space through automatic parking.

[0003] In order to realize automatic parking, the vehicle is equipped with a hardware device such as a surround view camera. Based on the surround view camera, the vehicle can find a parking space and park into the parking space. Specifically, the vehicle detects the boundary of the parking space through the surround view camera, and then parks the vehicle into the parking space according to the boundary of the parking space.

[0004] However, the surround view camera will be affected by the environment in which the mechanical parking space is located (for example, poor light, no stop line, etc.) in the process of detecting the mechanical parking space, thereby generating a larger detection error, which makes it difficult for the vehicle to smoothly park into the mechanical parking space. SUMMARY

[0005] The purpose of the present application is to provide a parking method, a parking system and a vehicle, which can make the vehicle smoothly park into a mechanical parking space.

[0006] In a first aspect, the present application provides a parking method, comprising:

[0007] obtaining point cloud information of a mechanical parking space;

[0008] obtaining a first boundary line and a second boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space; the first boundary line is parallel to the second boundary line;

[0009] determining a target straight line according to the first boundary line and the second boundary line; the distance from the target straight line to the first boundary line and the second boundary line is equal;

[0010] controlling the vehicle to travel along the target straight line, so that the vehicle parks into the mechanical parking space.

[0011] In some possible implementation manners, the controlling the vehicle to travel along the target straight line, so that the vehicle parks into the mechanical parking space, comprises:

[0012] When an angle between the body straight line corresponding to the travel direction of the vehicle and the target straight line is less than or equal to an angle threshold and a distance from the vehicle to the target straight line is less than or equal to a distance threshold, the vehicle is controlled to travel along the target straight line so as to be parked in the mechanical parking space.

[0013] In some possible implementation manners, the method further includes:

[0014] When the angle between the body straight line and the target straight line is greater than the angle threshold or the distance from the vehicle to the target straight line is greater than the distance threshold, the vehicle is adjusted to travel away from the mechanical parking space so as to make the angle between the body straight line and the target straight line less than or equal to the angle threshold and the distance from the vehicle to the target straight line less than or equal to the distance threshold.

[0015] In some possible implementation manners, the adjusting the vehicle to travel away from the mechanical parking space includes:

[0016] generating an adjustment path according to a rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection between a circle with the rear axle center position as a center and the target straight line, the target position being located on the body straight line, the target point being located on the target straight line, and a distance from the target point to the intersection being equal to a distance from the rear axle center position to the front axle center position;

[0017] adjusting the vehicle to travel away from the mechanical parking space according to the adjustment path.

[0018] In some possible implementation manners, the generating the adjustment path according to the rear axle center position of the vehicle, the target position at the preset distance from the rear axle center position, the target point, and the intersection between the circle with the rear axle center position as the center and the target straight line includes:

[0019] generating the adjustment path according to a third-order Bezier curve and the rear axle center position of the vehicle, the target position at the preset distance from the rear axle center position, the target point, and the intersection between the circle with the rear axle center position as the center and the target straight line.

[0020] In some possible implementation manners, when the target point is inside the circle, a terminal point of the third-order Bezier curve is the intersection.

[0021] In some possible implementation manners, the obtaining the point cloud information of the mechanical parking space includes:

[0022] obtaining the point cloud information of the mechanical parking space according to a time-of-flight camera or a laser radar

[0023] In a second aspect, the present application provides a parking system, comprising:

[0024] an acquisition unit configured to acquire point cloud information of a mechanical parking space;

[0025] a processing unit configured to acquire a first boundary line and a second boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space, wherein the first boundary line is parallel to the second boundary line, and a target straight line is determined according to the first boundary line and the second boundary line, and the distance from the target straight line to the first boundary line is equal to the distance from the target straight line to the second boundary line;

[0026] a parking unit configured to control the vehicle to travel along the target straight line so as to park the vehicle into the mechanical parking space.

[0027] In some possible implementation manners, the parking unit is specifically configured to control the vehicle to travel along the target straight line so as to park the vehicle into the mechanical parking space, when the included angle between the vehicle body straight line corresponding to the travel direction of the vehicle and the target straight line is less than or equal to an angle threshold, and the distance from the vehicle to the target straight line is less than or equal to a distance threshold.

[0028] In some possible implementation manners, the parking unit is specifically configured to adjust the vehicle to travel in a direction away from the mechanical parking space, so as to make the included angle between the vehicle body straight line and the target straight line less than or equal to the angle threshold, and the distance from the vehicle to the target straight line less than or equal to the distance threshold, when the included angle between the vehicle body straight line and the target straight line is greater than the angle threshold, or the distance from the vehicle to the target straight line is greater than the distance threshold.

[0029] In some possible implementation manners, the parking unit is specifically configured to generate an adjustment path according to the rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection between a circle with the rear axle center position as the center and the target straight line, wherein the target position is located on the vehicle body straight line, the target point is located on the target straight line, and the distance from the target point to the intersection is equal to the distance from the rear axle center position to the front axle center position, and adjust the vehicle to travel in a direction away from the mechanical parking space according to the adjustment path.

[0030] In some possible implementation manners, the parking unit is specifically configured to generate an adjustment path according to a third-order Bezier curve and the rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection between a circle with the rear axle center position as the center and the target straight line.

[0031] In some possible implementation manners, the end point of the third-order Bezier curve is the intersection point when the target point is in the circle.

[0032] In some possible implementation manners, the acquisition unit is specifically configured to acquire the point cloud information of the mechanical parking space according to a time-of-flight camera or a laser radar.

[0033] In a third aspect, the present application provides a vehicle comprising the system of any one of the above second aspects.

[0034] Compared with the prior art, the above technical solutions of the present application have the following advantages:

[0035] The present application provides a parking method, which acquires the boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space, and can effectively reduce the requirement for the environment in which the mechanical parking space is located during detection of the mechanical parking space. Even in an environment with poor light or no parking line, the boundary line of the mechanical parking space can be accurately determined by acquiring the point cloud information of the mechanical parking space. Then, the vehicle is controlled to park based on the accurate boundary line, and the vehicle can be more smoothly parked in the mechanical parking space. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0037] Figure 1 A schematic diagram of a mechanical parking space is provided for the embodiments of the present application;

[0038] Figure 2 A flowchart of a parking method is provided for the embodiments of the present application;

[0039] Figure 3 A schematic diagram of parking is provided for the embodiments of the present application;

[0040] Figure 4 A schematic diagram of an adjustment path is provided for the embodiments of the present application;

[0041] Figure 5 A schematic diagram of a parking system is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0042] In order for those skilled in the art to better understand the technical scheme of the present application, the technical scheme of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] In recent years, intelligent driving technology has developed rapidly, and a large number of vehicles equipped with intelligent driving technology have appeared. In this way, drivers can drive vehicles more safely and conveniently. For example, in the scenario of parking, through intelligent driving technology, drivers do not need to personally control the vehicle, and can also use automatic parking technology to park the vehicle into a parking space.

[0044] Currently, automatic parking technology needs hardware such as ultrasonic radar or surround view camera to automatically find a parking space. However, automatic parking technology relying only on ultrasonic radar or only on surround view camera cannot find a mechanical parking space. As shown in the figure, a mechanical parking space is shown. The characteristics of the mechanical parking space include: the parking space is relatively narrow, the parking space has a height difference with the road surface where the vehicle is located, the parking space is usually located low, the light is poor, and there is no parking line. For example, from the perspective of parking space detection, the parking space detection method relying on the surround view camera is constrained by the assumption of ground flatness, and it is difficult to ensure the accuracy of the parking space detection without a parking line. Figure 1

[0045] In view of this, the embodiments of the present application provide a parking method, which determines the specific position of a mechanical parking space by obtaining point cloud information of the mechanical parking space. The method can be executed by a controller on the vehicle. Specifically, the method obtains the point cloud information of the mechanical parking space by including the controller, then obtains a first boundary line and a second boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space, the first boundary line is parallel to the second boundary line; then determines a target straight line according to the first boundary line and the second boundary line, the distance from the target straight line to the first boundary line and the second boundary line is equal; finally controls the vehicle to travel along the target straight line and parks the vehicle into the mechanical parking space.

[0046] As can be seen, in the method, the specific position of the mechanical parking space, such as the first boundary line and the second boundary line of the mechanical parking space, is determined according to the point cloud information of the mechanical parking space. In this way, even in the case of poor environment of the mechanical parking space, the specific position of the mechanical parking space can be determined, and the vehicle can be controlled to park into the mechanical parking space.

[0047] In order to make the technical scheme of the present application clearer and easier to understand, a parking method provided by the embodiments of the present application is introduced below from the perspective of a vehicle controller. As shown in​Figure 2 As shown in the figure, the figure is a flowchart of a parking method provided by an embodiment of the application, the parking method can be executed by a controller, and the method comprises the following steps:

[0048] S201. The controller acquires point cloud information of a mechanical parking space.

[0049] In some implementations, the controller can acquire the point cloud information of the mechanical parking space based on a time-of-flight camera or based on a laser radar. Compared with the scheme of the laser radar, the scheme of the time-of-flight camera has relatively low cost and is convenient for wide use.

[0050] In some embodiments, the time-of-flight camera can be installed at the tail of the vehicle, so that the time-of-flight camera can capture the mechanical parking space and acquire the point cloud information of the mechanical parking space. In other embodiments, the time-of-flight camera can also be installed on a gimbal on the top of the vehicle, and by controlling the rotation of the gimbal, the time-of-flight camera can capture any direction, thereby expanding the adaptability of the method.

[0051] The embodiments of the application do not limit the specific position of the time-of-flight camera, and the time-of-flight camera can capture the mechanical parking space and acquire the point cloud information of the mechanical parking space.

[0052] S202. The controller acquires a first boundary line and a second boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space, and the first boundary line and the second boundary line are parallel.

[0053] In some implementations, the controller processes the point cloud information of the mechanical parking space based on the point cloud information of the mechanical parking space, for example, extracts the features of the baffle on both sides of the mechanical parking space according to the height difference of the point cloud in the point cloud information of the mechanical parking space, and fits the features to obtain a straight line where the baffle is located in the vehicle coordinate system (the first boundary line and the second boundary line, respectively). As shown in the figure, the figure shows a schematic diagram of the first boundary line and the second boundary line of a mechanical parking space. Figure 3 As shown in the figure, the figure shows a schematic diagram of the first boundary line and the second boundary line of a mechanical parking space. In some embodiments, the controller can control the vehicle to first form at the entrance of the mechanical parking space, i.e., in front of the straight line AC in the figure, and then control the vehicle to stop in the mechanical parking space. The first boundary line can be the straight line AB, and the second boundary line can be the straight line CD, wherein the straight line AC represents the entrance of the mechanical parking space. As can be seen from the figure, the straight line AB and the straight line CD are parallel.

[0054] In the method, the controller relies on the height difference of the point cloud to perform signal processing, and the requirement for the environment of the mechanical parking space is reduced. Even if the mechanical parking space is in an environment with poor light and no parking line, the point cloud information of the mechanical parking space can also obtain a relatively accurate mechanical parking space.

[0055] S203, the controller determines a target straight line according to the first boundary line and the second boundary line, and the distance of the target straight line to the first boundary line and the second boundary line is equal.

[0056] Continuing to refer to Figure 3 , the target straight line can be a straight line EF, and the distance of the straight line EF to the straight line AB is equal to the distance of the straight line EF to the straight line CD.

[0057] S204, the controller controls the vehicle to travel along the target straight line, so that the vehicle is parked into the mechanical parking space.

[0058] Then the controller controls the vehicle to travel along the straight line EF, so that the vehicle can be smoothly parked into the mechanical parking space.

[0059] In some embodiments, before controlling the vehicle to travel along the target straight line, the controller needs to judge the relationship between the vehicle and the target straight line. For example, when the included angle between the vehicle body straight line corresponding to the travel direction of the vehicle and the target straight line is less than or equal to an angle threshold value and the distance between the vehicle and the target straight line is less than or equal to a distance threshold value, the controller controls the vehicle to travel along the target straight line, so that the vehicle is parked into the mechanical parking space.

[0060] Continuing to refer to Figure 3 , the vehicle body straight line can be a straight line connecting the rear axle center position G of the vehicle and the front axle center position of the vehicle. The distance between the vehicle and the target straight line can be the distance between the rear axle center position G of the vehicle and the perpendicular segment of the straight line EF.

[0061] In other embodiments, when the included angle between the vehicle body straight line and the target straight line is greater than the angle threshold value or the distance between the vehicle and the target straight line is greater than the distance threshold value, the controller adjusts the vehicle to travel away from the mechanical parking space, so that the included angle between the vehicle body straight line and the target straight line is less than or equal to the angle threshold value and the distance between the vehicle and the target straight line is less than or equal to the distance threshold value.

[0062] In this embodiment, when it is judged that the preset condition (the included angle between the vehicle body straight line and the target straight line is greater than the angle threshold value or the distance between the vehicle and the target straight line is greater than the distance threshold value) is not met, the controller adjusts the vehicle, so that the vehicle can be subsequently parked into the mechanical parking space smoothly.

[0063] The embodiment of the application further provides a method for adjusting a vehicle to move away from a mechanical parking space by a controller, which can comprise: generating an adjustment path by the controller according to a rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection of a circle with the rear axle center position as a center and a target straight line; the target position is located on the vehicle body straight line, the target point is located on the target straight line, and a distance from the target point to the intersection is equal to a distance from the rear axle center position to the front axle center position; and adjusting the vehicle to move in a direction away from the mechanical parking space according to the adjustment path.

[0064] Referring to Figure 4 wherein G is the rear axle center position of the vehicle, H is the front axle center position of the vehicle, I is the target point, and J is the intersection, and the adjustment path can be G-H-I-J. The target position can be the front axle center position of the vehicle, or can be another position on the vehicle body straight line. In some examples, the preset distance can be 1 meter. For ease of understanding, the target position is taken as the front axle center position of the vehicle in the following description.

[0065] In some embodiments, the controller can generate the adjustment path according to a third-order Bezier curve and the rear axle center position of the vehicle, the target position, the target point, and the intersection of the circle with the rear axle center position as a center and the target straight line.

[0066] In some implementations, when the target point is in the circle, a terminal point of the third-order Bezier curve is the intersection.

[0067] In some possible implementations, when the target point I is in the circle, the controller takes the rear axle center position G of the vehicle as a starting point of the third-order Bezier curve, takes the target position (for example, the front axle center position of the vehicle) H as a first control point of the third-order Bezier curve, takes the target point I as a second control point of the third-order Bezier curve, and takes the intersection J as a terminal point of the third-order Bezier curve to generate the adjustment path.

[0068] In the embodiment, after the controller generates the adjustment path for moving forward by the method of the Bezier curve, the vehicle is controlled to move along the adjustment path for adjustment, and when the vehicle moves to the terminal point of the adjustment path, the vehicle is controlled to move along the straight line JI, so that the vehicle moves towards the mechanical parking space, and then the vehicle is smoothly parked into the mechanical parking space.

[0069] In some embodiments, the method can present a candidate parking space to a user through a central control screen of the vehicle, and when the user selects a parking space, the vehicle is controlled to be parked into the parking space selected by the user. The parking task is completed and the automatic parking is exited.

[0070] The adjustment path has the advantages that the tangent line of point G passes through point H and is consistent with the heading direction of the vehicle when the vehicle is moving forward, the tangent line of point J passes through point I and is consistent with the heading direction of the vehicle when the vehicle is moving backward, and the whole trajectory is smooth, easy for vehicle trajectory tracking, and small in driving deviation.

[0071] Based on the above description, in the method, the specific position of the mechanical parking space, for example, the first boundary line and the second boundary line of the mechanical parking space, is determined according to the point cloud information of the mechanical parking space. In this way, even in the case that the environment of the mechanical parking space is poor, the specific position of the mechanical parking space can be determined, and the vehicle can be controlled to stop in the mechanical parking space.

[0072] The embodiments of the present application also provide a parking system, as shown in the drawings, the parking system comprises: Figure 5

[0073] The acquisition unit 601 is configured to acquire point cloud information of a mechanical parking space.

[0074] The processing unit 602 is configured to acquire a first boundary line and a second boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space; the first boundary line is parallel to the second boundary line; a target straight line is determined according to the first boundary line and the second boundary line; the distance from the target straight line to the first boundary line and the second boundary line is equal.

[0075] The parking unit 603 is configured to control a vehicle to travel along the target straight line, so that the vehicle stops in the mechanical parking space.

[0076] In some possible implementation manners, the parking unit 603 is specifically configured to control the vehicle to travel along the target straight line, so that the vehicle stops in the mechanical parking space, when the included angle between the vehicle body straight line corresponding to the travel direction of the vehicle and the target straight line is less than or equal to an angle threshold value and the distance from the vehicle to the target straight line is less than or equal to a distance threshold value.

[0077] In some possible implementation manners, the parking unit 603 is specifically configured to control the vehicle to travel in a direction away from the mechanical parking space, so that the included angle between the vehicle body straight line and the target straight line is less than or equal to the angle threshold value and the distance from the vehicle to the target straight line is less than or equal to the distance threshold value, when the included angle between the vehicle body straight line and the target straight line is greater than the angle threshold value or the distance from the vehicle to the target straight line is greater than the distance threshold value.

[0078] ​In some possible implementation manners, the parking unit 603 is specifically configured to generate an adjustment path according to the rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection of a circle with the rear axle center position as a center and a target straight line; the target position is located on the vehicle body straight line, the target point is located on the target straight line, and a distance from the target point to the intersection is equal to a distance from the rear axle center position to the front axle center position; and the vehicle is adjusted to drive away from the mechanical parking space according to the adjustment path.

[0079] In some possible implementation manners, the parking unit 603 is specifically configured to generate an adjustment path according to a third-order Bezier curve and the rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection of a circle with the rear axle center position as a center and a target straight line.

[0080] In some possible implementation manners, the target point is located in the circle, and an end point of the third-order Bezier curve is the intersection.

[0081] In some possible implementation manners, the acquisition unit 601 is specifically configured to acquire the point cloud information of the mechanical parking space according to a time-of-flight camera or a laser radar.

[0082] The embodiments of the present application further provide a vehicle, which comprises the parking system described in the above embodiments.

[0083] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts of each embodiment can be referred to each other. Each embodiment mainly describes the difference from other embodiments. Especially, the system embodiment is basically similar to the method embodiment, so the description is relatively simple, and the related parts can be referred to the part of the method embodiment. The above-described device embodiment is only schematic, and the units and modules described as separate components can or can not be physically separate. In addition, part or all of the units and modules can be selected according to actual needs to achieve the purpose of the embodiment. Those skilled in the art can understand and implement without creative labor.

[0084] The above is only a specific implementation manner of the present application. It should be noted that, for those skilled in the art, without departing from the principle of the present application, some improvements and refinements can be made, which should be regarded as the protection range of the present application.

Claims

1. A parking method characterized by, The method comprises: acquiring point cloud information of a mechanical parking space; acquiring a first boundary line and a second boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space; the first boundary line is parallel to the second boundary line; determining a target straight line according to the first boundary line and the second boundary line; the distance from the target straight line to the first boundary line and the second boundary line is equal; controlling the vehicle to travel along the target straight line so as to park the vehicle into the mechanical parking space; when the included angle between the vehicle body straight line and the target straight line is greater than an angle threshold or the distance from the vehicle to the target straight line is greater than a distance threshold, adjusting the vehicle to travel in a direction away from the mechanical parking space so as to make the included angle between the vehicle body straight line and the target straight line less than or equal to the angle threshold and the distance from the vehicle to the target straight line less than or equal to the distance threshold; the adjusting the vehicle to travel in the direction away from the mechanical parking space comprises: generating an adjustment path according to the rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection of a circle with the rear axle center position as the center and the target straight line; the target position is located on the vehicle body straight line, the target point is located on the target straight line, and the distance from the target point to the intersection is equal to the distance from the rear axle center position to the front axle center position of the vehicle; adjusting the vehicle to travel in the direction away from the mechanical parking space according to the adjustment path.

2. The method of claim 1, wherein, the controlling the vehicle to travel along the target straight line so as to park the vehicle into the mechanical parking space comprises: when the included angle between the vehicle body straight line corresponding to the travel direction of the vehicle and the target straight line is less than or equal to an angle threshold and the distance from the vehicle to the target straight line is less than or equal to a distance threshold, controlling the vehicle to travel along the target straight line so as to park the vehicle into the mechanical parking space.

3. The method of claim 2, wherein, the generating an adjustment path according to the rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection of a circle with the rear axle center position as the center and the target straight line comprises: generating an adjustment path according to a third-order Bezier curve and the rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection of a circle with the rear axle center position as the center and the target straight line.

4. The method of claim 3, wherein, the target point is in the circle, and the end point of the third-order Bezier curve is the intersection.

5. The method according to any one of claims 1 to 4, characterized in that, the acquiring point cloud information of a mechanical parking space comprises: acquiring the point cloud information of the mechanical parking space according to a time-of-flight camera or a laser radar.

6. A parking system, characterized in that The method comprises: an acquisition unit, configured to acquire point cloud information of a mechanical parking space; a processing unit, configured to acquire a first boundary line and a second boundary line of the mechanical parking space according to the point cloud information of the mechanical parking space; the first boundary line is parallel to the second boundary line; determine a target straight line according to the first boundary line and the second boundary line; the distance from the target straight line to the first boundary line and the second boundary line is equal; a parking unit configured to control the vehicle to travel along the target straight line so as to park the vehicle into the mechanical parking space; an adjusting unit configured to, when an angle between the vehicle body straight line and the target straight line is greater than an angle threshold or a distance between the vehicle and the target straight line is greater than a distance threshold, adjust the vehicle to travel away from the mechanical parking space so as to make the angle between the vehicle body straight line and the target straight line less than or equal to the angle threshold and the distance between the vehicle and the target straight line less than or equal to the distance threshold; the adjusting unit is specifically configured to generate an adjusting path according to a rear axle center position of the vehicle, a target position at a preset distance from the rear axle center position, a target point, and an intersection between a circle with the rear axle center position as a center and the target straight line, the target position being located on the vehicle body straight line, the target point being located on the target straight line, and a distance between the target point and the intersection being equal to a distance between the rear axle center position and a front axle center position of the vehicle; the vehicle is adjusted to travel away from the mechanical parking space according to the adjusting path.

7. The system of claim 6, wherein, the parking unit is specifically configured to, when an angle between a vehicle body straight line corresponding to a travel direction of the vehicle and the target straight line is less than or equal to an angle threshold and a distance between the vehicle and the target straight line is less than or equal to a distance threshold, control the vehicle to travel along the target straight line so as to park the vehicle into the mechanical parking space.

8. A vehicle characterized by comprising: a parking system as claimed in claim 6 or 7.

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