Abstract: Disclosed is an environment active sensing-type automatic parking system in a parking lot, including a vehicle information acquisition and identification module, a multi-sensor positioning module, a building information model module, a classification processing module, path planning and navigation module, a parking space state judgment module, a two-flywheel steering device and a mechanical power device. A QR code, a mechanical power device, and a two-flywheel steering device are mounted onto a vehicle, the QR code is identified by using a camera in the parking lot to achieve continuous positioning, an optimal path is planned according to vehicle distribution information in the current parking lot, and the driving speed and driving direction of the vehicle are controlled by remotely controlling the mechanical power device in the vehicle, so as to achieve automatic parking in the parking lot.