Vehicle centering method and vehicle centering device

Abstract

The invention discloses a vehicle centering method and a vehicle centering device. The vehicle centering method comprises a step S1 and a step S3. Step S1, if a distance difference value between the first distance and the second distance is within a preset range, enabling the first centering piece and the second centering piece to move for the same duration along respective action directions at the same speed; step S3; and a first action value and a second action value are determined, and if the first action value and the second action value both reach the preset action value, the first centering piece and the second centering piece are made to move in the respective departure directions. According to the vehicle centering method, it is determined that the first centering piece and the second centering piece are symmetrically arranged relative to the reference position in the horizontal centering direction, then the first centering piece and the second centering piece synchronously move close to or away from each other so as to push the vehicle to the centering position, and the method for controlling vehicle centering is simple and high in execution efficiency.

Description

Technical Field

[0001] This application relates to the field of garages, and more specifically to vehicle centering methods and vehicle centering devices. Background Technology

[0002] With the continuous improvement of people's living standards, more and more people are buying private cars. The increase in vehicles has a significant impact on urban traffic and the environment. Correspondingly, with the increase in vehicles, parking equipment technology has also developed rapidly. Parking equipment is a mechanical or mechanical equipment system used to store and retrieve vehicles in large quantities.

[0003] In some intelligent automated parking garages, a centering mechanism needs to be installed in the parking hall to center the vehicles parked in the hall, thereby facilitating the movement of the vehicles by the transporter.

[0004] Existing vehicle alignment methods require prior acquisition of the position data of the vehicle's four tires, calculation of the required displacement values ​​for the front and rear ends, and then control of the alignment mechanism to align the vehicle. This vehicle alignment method is cumbersome and has low execution efficiency.

[0005] Therefore, this application provides a vehicle centering method and a vehicle centering device to at least partially solve the above-mentioned problems. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed embodiments section. This summary section is not intended to limit the key features and essential technical features of the claimed technical solutions, nor is it intended to determine the scope of protection of the claimed technical solutions.

[0007] To at least partially solve the above-mentioned technical problems, this application provides a vehicle alignment method, which includes: Step S1: If the distance difference between the first distance and the second distance is within a preset range, then the first centering member and the second centering member move at the same speed along their respective directions for the same duration. The first distance is the minimum distance between the first centering member and the reference position along the horizontal centering direction, and the second distance is the distance between the second centering member and the reference position along the horizontal centering direction. Along the horizontal centering direction, the first centering member, the reference position, and the second centering member are arranged alternately. The first centering member and the second centering member are used to act on the vehicle respectively so that the vehicle is centered at the reference position. Step S3: Determine the first action value and the second action value. If both the first action value and the second action value reach the preset action value, then move the first centering member and the second centering member along their respective departure directions opposite to the action direction. The first action value is the first action force on the first centering member or the first torque that drives the first centering member to move. The second action value is the second action force on the second centering member or the second torque that drives the second centering member to move.

[0008] According to the vehicle alignment method of this application, the first alignment component and the second alignment component are first determined to be symmetrically arranged relative to the reference position along the horizontal alignment direction. Then, the first alignment component and the second alignment component are moved synchronously closer to each other or further away from each other to push the vehicle to the alignment position. The method of controlling vehicle alignment is simple and has high execution efficiency.

[0009] Optionally, the vehicle centering method also includes issuing a fault message if the distance difference is outside a preset range.

[0010] Optionally, the range of the preset action value is 60% to 100% of the rated torque of at least one of the motors driving the first centering member to move and the motors driving the second centering member to move.

[0011] Optionally, the vehicle centering method further includes, if at least one of the first action value and the second action value is less than a preset action value, then the first centering member and the second centering member move at the same speed along their respective action directions for the same duration.

[0012] Optionally, the preset range is 0mm to 5mm.

[0013] Optionally, in step S3, if both the first action value and the second action value reach the preset action value, then the first centering member and the second centering member move at the same speed along their respective departure directions for the same duration.

[0014] Optionally, in step S1, the first distance and the second distance are determined before the step where the distance difference between the first distance and the second distance is within a preset range.

[0015] This application also provides a vehicle alignment device, which includes a first alignment component and a second alignment component, and the vehicle alignment device is controlled according to the aforementioned vehicle alignment method.

[0016] According to the vehicle centering device of this application, the vehicle centering device is controlled according to the aforementioned vehicle centering method. First, it is determined that the first centering member and the second centering member are symmetrically arranged relative to the reference position along the horizontal centering direction. Then, the first centering member and the second centering member are moved closer or further away from each other synchronously to push the vehicle to the centering position. The method of controlling vehicle centering is simple and has high execution efficiency.

[0017] Optionally, the vehicle alignment device further includes a first drive assembly and a second drive assembly. The first drive assembly is connected to a first alignment member to drive the first alignment member to move, and the second drive assembly is connected to a second alignment member to drive the second alignment member to move. Both the first and second drive assemblies include an electric push rod. If the difference between the distance represented by the first distance information of the first driving component and the distance represented by the second distance information of the second driving component is within a preset range, then it is determined that the distance difference between the first distance and the second distance is within the preset range.

[0018] Optionally, the vehicle centering device also includes a parking platform, and both the first and second centering components are rods, both of which are mounted on the parking platform. Attached Figure Description

[0019] To make the advantages of this application more readily apparent, the application briefly described above will be described in more detail with reference to the specific embodiments shown in the accompanying drawings. It is to be understood that these drawings depict only typical embodiments of this application and should not be considered as limiting its scope of protection. The application is described and explained with additional features and details through the drawings.

[0020] Figure 1 This is a top view of a vehicle centering device according to a preferred embodiment of the present application, wherein the parking platform is not shown; Figure 2 for Figure 1 A top-view diagram of the vehicle centering device; and Figure 3 To control Figure 1 A flowchart illustrating the vehicle alignment method using a vehicle alignment device.

[0021] Explanation of reference numerals in the attached figures 110: First pair of center pieces 111: Second pair of center pieces 120: First drive component; 121: Second drive component 130: Controller; 140: Parking Platform 150: Vehicle 160: Reference Position Detailed Implementation

[0022] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0023] The preferred embodiments of this application will now be described with reference to the accompanying drawings. It should be noted that the terms "upper," "lower," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0024] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not include any other meaning, such as a specific order.

[0025] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may also include other embodiments.

[0026] This application provides a vehicle alignment method. The vehicle alignment method can be used to control a vehicle alignment device. The vehicle alignment device can be used in the parking garage for aligning a vehicle 150. Once the vehicle 150 is aligned, it can be moved using a transporter in the garage. This keeps the vehicle 150 balanced within the transporter, preventing it from tipping over due to a shift in its center of gravity.

[0027] Please refer to Figure 1 and Figure 2 The vehicle centering device includes a first centering component 110, a second centering component 111, and a parking platform 140. The parking platform 140 has a generally rectangular structure. The width direction of the parking platform 140 is parallel to the horizontal centering direction D. After the vehicle owner drives the vehicle 150 into the parking hall, the owner can park the vehicle 150 on the parking platform 140. After the owner parks the vehicle 150 on the parking platform 140, they can leave the garage. After the owner leaves, the garage's transporter can automatically move the vehicle 150 from the parking hall to the parking space. When the vehicle 150 is placed on the parking platform 140 and is in the centering position, the length direction of the vehicle 150 is parallel to the length direction of the parking platform 140, and the width direction of the vehicle 150 is parallel to the width direction of the parking platform 140.

[0028] Please refer to Figure 1 The first centering member 110 and the second centering member 111 are both movably disposed on the parking platform 140 along the horizontal centering direction D. The middle position of the parking platform 140 along the horizontal centering direction D is the reference position 160. The reference position 160 can be predetermined. The first centering member 110, the reference position 160, and the second centering member 111 are sequentially spaced apart along the horizontal centering direction D.

[0029] The first centering member 110 and the second centering member 111 move along their respective directions of action to approach the vehicle 150, thereby acting on the vehicle 150 and aligning it with the reference position 160. The directions of action are parallel to the horizontal centering direction D. The directions of action of the first centering member 110 and the second centering member 111 are opposite.

[0030] The first centering member 110 and the second centering member 111 move along their respective departure directions to positions respectively away from the vehicle 150 affected by the respective actions of the first centering member 110 and the second centering member 111. The departure direction is parallel to the horizontal centering direction D. The direction of action of the first centering member 110 is opposite to its departure direction. The direction of action of the second centering member 111 is opposite to its departure direction. Specifically, as... Figure 1 and Figure 2 As shown, when vehicle 150 is placed on parking platform 140, vehicle 150 is positioned between first centering member 110 and second centering member 111. At this time, by bringing the first centering member 110 and second centering member 111 closer together, vehicle 150 can be pushed from both sides along its width direction, causing it to move along the horizontal centering direction D. This brings the center position of vehicle 150 along its width direction to reference position 160, thus centering vehicle 150 at reference position 160. Therefore, the vehicle centering device has a simple structure.

[0031] When it is necessary for the first centering component 110 and the second centering component 111 to leave the vehicle 150 (e.g., when the vehicle 150 is centered at the reference position 160), the first centering component 110 and the second centering component 111 are moved away from each other, which allows the first centering component 110 and the second centering component 111 to leave the vehicle 150.

[0032] It is understood that, in the embodiment not shown, when the vehicle 150 is placed on the parking platform 140, both the first centering member 110 and the second centering member 111 are located between the two wheels of the vehicle 150 and are both located below the vehicle body. At this time, by moving the first centering member 110 and the second centering member 111 away from each other, the two wheels can be pushed by the inner side of the wheels near the center of the vehicle body, so that the vehicle 150 moves in the horizontal centering direction, thereby placing the middle position of the vehicle 150 along the width direction of the vehicle 150 at the reference position 160, so that the vehicle 150 is centered at the reference position 160, and thus the vehicle 150 is aligned.

[0033] When it is necessary for the first centering member 110 and the second centering member 111 to leave the wheel (e.g., when the vehicle 150 is centered at the reference position 160), the first centering member 110 and the second centering member 111 are brought closer to each other, which allows the first centering member 110 and the second centering member 111 to leave the wheel.

[0034] like Figure 3 As shown, the vehicle centering method includes steps S1 and S3.

[0035] Step S1: If the distance difference between the first distance and the second distance is within a preset range, then the first centering member 110 and the second centering member 111 move at the same speed along their respective directions for the same duration.

[0036] The first distance is the minimum distance along the horizontal centering direction D between the first centering member 110 and the reference position 160. The second distance is the minimum distance along the horizontal centering direction D between the second centering member 111 and the reference position 160.

[0037] When vehicle 150 needs to be aligned, it is determined that the distance difference between the first distance and the second distance is within a preset range. If the distance difference between the first distance and the second distance is within the preset range, it means that the first alignment member 110 and the second alignment member 111 are symmetrically arranged relative to the reference position 160 along the horizontal alignment direction D. In this case, after vehicle 150 is placed on parking platform 140, the first alignment member 110 and the second alignment member 111 move at the same speed along their respective directions of action (e.g., moving closer to each other) for the same duration. Thus, during the movement of the first alignment member 110 and the second alignment member 111, the first alignment member 110 and the second alignment member 111 move synchronously (moving the same distance at the same speed within the same duration).

[0038] After the vehicle 150 is placed on the parking platform 140, the first centering member 110 and the second centering member 111 move along their respective directions of action. At least one of the first centering member 110 and the second centering member 111 acts on the vehicle 150 to push the vehicle 150 toward the center of the parking platform 140 along the horizontal centering direction D, thereby centering the vehicle 150 (at this time, the vehicle 150 is in the centering position).

[0039] Step S3: Determine the first action value and the second action value. If both the first action value and the second action value reach the preset action value, then move the first centering member 110 and the second centering member 111 along their respective departure directions opposite to the action direction.

[0040] The first value is a first force acting on the first centering member 110 or a first torque driving the first centering member 110 to move. The second value is a second force acting on the second centering member 111 or a second torque driving the second centering member 111 to move.

[0041] When the first centering member 110 acts on the vehicle 150, the first force is equal to the force exerted by the first centering member 110 on the vehicle 150. When the second centering member 111 acts on the vehicle 150, the second force is the force exerted by the second centering member 111 on the vehicle 150.

[0042] As the first centering member 110 and the second centering member 111 move along their respective directions of action, the first action value and the second action value are determined in real time. It is then determined whether both the first action value and the second action value have reached the preset action value.

[0043] At a certain moment, if all the first action values ​​and all the second action values ​​reach the preset action values, it indicates that both the first centering member 110 and the second centering member 111 are acting on the vehicle 150. At this time, the forces exerted by the first centering member 110 on the vehicle 150 and the forces exerted by the second centering member 111 on the vehicle 150 cancel each other out, and the vehicle 150 stops. The vehicle 150 is in the centering position. In this way, the moment when the vehicle 150 is in the centering position can be accurately determined. From the moment when the first centering member 110 and the second centering member 111 begin to move along their respective action directions until the moment when the vehicle 150 moves to the centering position, the moving distance of the first centering member 110 is the same as the moving distance of the second centering member 111.

[0044] When the vehicle 150 is in the centering position, the first centering member 110 and the second centering member 111 are moved in their respective departure directions (e.g., away from each other) to reset.

[0045] In this embodiment, the first centering member 110 and the second centering member 111 are first determined to be symmetrically arranged relative to the reference position 160 along the horizontal centering direction D. Then, the first centering member 110 and the second centering member 111 are made to move closer to or further away from each other synchronously to push the vehicle 150 to the centering position. The method of controlling the centering of the vehicle 150 is simple and has high execution efficiency.

[0046] Optionally, the vehicle centering method also includes issuing a fault message if the distance difference is outside a preset range.

[0047] If the distance difference in step S1 is outside the preset range, it indicates that the first centering member 110 and the second centering member 111 are not symmetrically positioned relative to the reference position 160 along the horizontal centering direction D. In this case, if the first centering member 110 and the second centering member 111 are moved synchronously along their respective directions of action, and step S3 is executed, it may be impossible to center the vehicle 150. In this situation, a fault message can be issued to notify the staff for repair. This avoids the inability to center the vehicle 150.

[0048] Optionally, such as Figure 1 and Figure 2 As shown, the vehicle alignment device also includes a drive assembly. The drive assembly includes an electric actuator and a motor. The motor can be a servo motor. The motor's output shaft is connected to the electric actuator to drive it. The electric actuator includes a housing and an actuator. The actuator is movable relative to the housing. The head of the actuator is the end of the actuator located outside the housing.

[0049] The drive assembly includes a first drive assembly 120 and a second drive assembly 121. The head of the push rod of the electric actuator of the first drive assembly 120 is connected to a first centering member 110 to move the first centering member 110 along the horizontal centering direction D. The head of the push rod of the electric actuator of the second drive assembly 121 is connected to a second centering member 111 to move the second centering member 111 along the horizontal centering direction D.

[0050] In this embodiment, the preset operating value is a preset torque value. The first operating value is a first torque. The second operating value is a second torque. The preset operating value ranges from 60% to 100% of the rated torque of at least one of the motors driving the first centering member 110 and the motor driving the second centering member 111. For example, 80%.

[0051] The rated torque of the motor driving the first centering member 110 and the rated torque of the motor driving the second centering member 111 can be the same. The electric push rods of the first drive assembly 120 and the second drive assembly 121 have the same model and specifications. This avoids the first centering member 110 and the second centering member 111 from exerting excessive force on the vehicle 150.

[0052] Optionally, the centering method further includes, if at least one of the first action value and the second action value is less than a preset action value, then the first centering member 110 and the second centering member 111 move at the same speed along their respective action directions for the same duration.

[0053] During the movement of the first centering member 110 and the second centering member 111 along their respective directions of action, if at least one of the first action value and the second action value is less than a preset action value, it indicates that at least one of the first centering member 110 and the second centering member 111 exerts no force on the vehicle 150. In this case, the first centering member 110 and the second centering member 111 continue to move along their respective directions of action at the same speed for the same duration. This prevents the vehicle 150 from failing to reach the centering position.

[0054] Optionally, the preset range is 0 mm to 5 mm. This results in high accuracy for centering vehicle 150.

[0055] Optionally, in step S3, if both the first action value and the second action value reach the preset action value, then the first centering member 110 and the second centering member 111 are moved at the same speed along their respective departure directions for the same duration.

[0056] After vehicle 150 reaches the centering position, the first centering member 110 and the second centering member 111 move synchronously along their respective departure directions. Thus, when the first centering member 110 and the second centering member 111 stop, they are symmetrically positioned relative to the reference position 160 along the horizontal centering direction D. This facilitates centering the next vehicle 150.

[0057] Optionally, step S1 determines the first distance and the second distance before the step where the distance difference between the first distance and the second distance is within a preset range.

[0058] like Figure 1 As shown, the vehicle centering device also includes a controller 130. The controller 130 is electrically connected to the motor and the electric push rod via communication wires to control their operation. The electric push rod can continuously collect distance information. This distance information indicates the distance the push rod needs to move from its original position (the position of the push rod when its length is at its shortest) to its current position.

[0059] The distance information of the first drive component 120 is the first distance information. The distance information of the second drive component 121 is the second distance information. The controller 130 can also collect the voltage signal of the drive motor and then determine the torque information representing the output torque of the motor (the first torque that drives the first centering member 110 to move and the second torque that drives the second centering member 111 to move) based on the voltage signal.

[0060] Specifically, when centering vehicle 150, if the difference between the distances represented by all the first distance information and the distances represented by all the second distance information is within a preset range, it indicates that the distance difference between the first distance and the second distance is within the preset range, and it can be determined that the first centering member 110 and the second centering member 111 are symmetrically arranged relative to the reference position 160 along the horizontal centering direction D. If the difference between the distances represented by all the first distance information and the distances represented by all the second distance information is outside the preset range, it is determined that the first centering member 110 and the second centering member 111 are not symmetrically arranged relative to the reference position 160 along the horizontal centering direction D. In an embodiment not shown, since the position of the electric push rod housing is fixed relative to the parking platform 140, the controller 130 can determine the first distance and the second distance through the distance information of the electric push rod.

[0061] In this embodiment, the controller 130 continuously collects speed information (e.g., collected by a speed sensor) indicating the current moving speed of the first centering member 110 and the second centering member 111, current position information (e.g., collected by the electric push rod), current torque information indicating the current output torque of the motor, and fault information indicating whether the drive component in the centering device of the vehicle 150 is faulty. The controller 130 controls the operation of the motor based on the speed information, current position information, and current torque information.

[0062] It is understood that, in the embodiment not shown, the preset action value is a preset force value. The first action value is the first force. The second action value is the second force. In this case, a force sensor electrically connected to the controller 130 can be set to collect the first force and the second force.

[0063] In an embodiment not shown, a position sensor electrically connected to the controller 130 may be installed at a preset position to acquire a first position signal indicating that the first centering member 110 has moved to a first predetermined position, and a second position signal indicating that the second centering member 111 has moved to a second predetermined position. When the first centering member 110 is located at the first predetermined position and the second centering member 111 is located at the second predetermined position, the first centering member 110 and the second centering member 111 are symmetrically arranged relative to the reference position 160 along the horizontal centering direction D. Therefore, if the controller 130 receives the first position signal and the second position signal, it can determine that the distance difference between the first distance and the second distance is within a preset range.

[0064] In an embodiment not shown, a distance sensor electrically connected to the controller 130 may also be provided to collect a first distance and a second distance.

[0065] This application also provides a vehicle alignment device. The vehicle alignment device is controlled by the aforementioned vehicle alignment method.

[0066] In this embodiment, the first centering member 110 and the second centering member 111 are first determined to be symmetrically arranged relative to the reference position 160 along the horizontal centering direction D. Then, the first centering member 110 and the second centering member 111 are made to move closer to or further away from each other synchronously to push the vehicle 150 to the centering position. The method of controlling the centering of the vehicle 150 is simple and has high execution efficiency.

[0067] Optionally, the first centering member 110 and the second centering member 111 are used to act on the wheels of the vehicle 150. This can prevent damage to the vehicle body.

[0068] like Figure 1 and Figure 2 As shown, the first centering member 110 and the second centering member 111 are rods. The length directions of both the first centering member 110 and the second centering member 111 are perpendicular to the horizontal centering direction D and the vertical direction, respectively. The length of both the first centering member 110 and the second centering member 111 is greater than the wheelbase of the front and rear wheels of the vehicle 150. The first centering member 110 can act on two wheels on one side of the vehicle 150. The second centering member 111 can act on two wheels on the other side of the vehicle 150. Therefore, the vehicle centering device has a simple structure. Furthermore, the first centering member 110 and the second centering member 111 have high strength, preventing deformation of the first centering member 110 and the second centering member 111 when they are not acting on the wheels.

[0069] like Figure 1 As shown, the first centering member 110 is driven by two first drive assemblies 120. The two first drive assemblies 120 are positioned at the front and rear wheels of the vehicle 150. The second centering member 111 is driven by two second drive assemblies 121. The two second drive assemblies 121 are positioned at the front and rear wheels of the vehicle 150. Thus, the first centering member 110 and the second centering member 111 can smoothly propel the vehicle 150.

[0070] In an embodiment not shown, there are multiple first centering members 110. These multiple first centering members 110 are arranged at intervals along the length of the parking platform 140. Each first centering member 110 acts on one wheel. The multiple first centering members 110 are driven one-to-one by multiple first drive assemblies 120. There are also multiple second centering members 111. These multiple second centering members 111 are arranged at intervals along the length of the parking platform 140. Each second centering member 111 acts on one wheel. The multiple second centering members 111 are driven one-to-one by multiple second drive assemblies 121.

[0071] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the scope of the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application. The scope of protection of this application is defined by the appended claims and their equivalents.

[0072] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “component” appearing herein can refer to a single part or a combination of multiple parts. Terms such as “installation” or “setup” appearing herein can indicate that one component is directly attached to another component or that one component is attached to another component via an intermediate component. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated. Descriptions of one component connecting to another component herein can indicate that one component is directly connected to another component or that one component is indirectly connected to another component via an intermediate component.

Claims

1. A vehicle centering method, characterized in that, The vehicle centering method includes: Step S1: If the distance difference between the first distance and the second distance is within a preset range, then the first centering component and the second centering component move at the same speed along their respective directions for the same duration. The first distance is the minimum distance between the first centering component and the reference position along the horizontal centering direction, and the second distance is the distance between the second centering component and the reference position along the horizontal centering direction. Along the horizontal centering direction, the first centering component, the reference position, and the second centering component are arranged sequentially at intervals. The first centering component and the second centering component are used to act on the vehicle respectively so that the vehicle is centered on the reference position. Step S3: Determine the first action value and the second action value. If both the first action value and the second action value reach the preset action value, then move the first centering member and the second centering member along their respective departure directions opposite to the action direction. The first action value is the first action force or the first torque that drives the first centering member to move. The second action value is the second action force or the second torque that drives the second centering member to move.

2. The vehicle centering method according to claim 1, characterized in that, The vehicle centering method further includes issuing a fault message if the distance difference is outside the preset range.

3. The vehicle centering method according to claim 1, characterized in that, The range of the preset operating value is 60% to 100% of the rated torque of at least one of the motors driving the first centering member and the motor driving the second centering member.

4. The vehicle centering method according to claim 1, characterized in that, The vehicle centering method further includes, if at least one of the first action value and the second action value is less than the preset action value, then the first centering member and the second centering member move at the same speed along their respective action directions for the same duration.

5. The vehicle centering method according to claim 1, characterized in that, The preset range is 0mm to 5mm.

6. The vehicle centering method according to claim 1, characterized in that, In step S3, if both the first action value and the second action value reach the preset action value, then the first centering member and the second centering member are moved at the same speed along their respective departure directions for the same duration.

7. The vehicle centering method according to claim 1, characterized in that, In step S1, before the step of determining if the distance difference between the first distance and the second distance is within a preset range, the first distance and the second distance are determined.

8. A vehicle centering device, characterized in that, The vehicle alignment device includes a first alignment component and a second alignment component, and the vehicle alignment device controls the vehicle alignment method according to any one of claims 1 to 6.

9. The vehicle alignment device according to claim 8, characterized in that, The vehicle alignment device further includes a first drive assembly and a second drive assembly. The first drive assembly is connected to the first alignment member to drive the first alignment member to move. The second drive assembly is connected to the second alignment member to drive the second alignment member to move. Both the first drive assembly and the second drive assembly include an electric push rod. If the difference between the distance represented by the first distance information of the first driving component and the distance represented by the second distance information of the second driving component is within the preset range, then it is determined that the distance difference between the first distance and the second distance is within the preset range.

10. The vehicle alignment device according to claim 8, characterized in that, The vehicle centering device also includes a parking platform, and both the first centering member and the second centering member are rods, which are both installed on the parking platform.

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