The invention discloses a parking 
system and a vertical parking method thereof.  The 
system is composed of 
ranging sensor, vehicle speed sensor, central 
processing module and voice prompt module.  In the process of searching for a 
parking lot, the distance between the two sides of the car and the obstacle is measured in real time by the distance measuring sensor, and the free 
parking space that meets the requirements is judged based on the vehicle speed information; the "four-
step method" is used to complete the vertical parking: S1, return the 
steering wheel to the vehicle  Adjust until the center of the right rear wheel is at point P1, prompting to stop and shift to forward gear; S2, turn the 
steering wheel to the full left, drive forward until the center of the right rear wheel is at point M, prompt to stop and change to reverse gear; S3, turn the 
steering wheel to the full right, reverse  Drive until the center of the right rear wheel is at point O, prompting the steering wheel to return to the center; S4, return the steering wheel and drive backwards until the distance from the rear obstacle is 30 cm or the 
front edge of the vehicle is flush with the 
front edge of the side vehicle to complete vertical parking.  The invention can accurately and effectively park the car into the vertical 
parking space through the designed parking 
algorithm.