Abstract: Provided are an automatic parking method and device. The automatic parking method includes: acquiring a global waypoint map of a parking lot where a vehicle is to be parked and position information of available parking spaces, and performing global path planning according to the global waypoint map and the available parking space position information; starting automatic driving according to the global path planning, acquiring vehicle visual information, and performing local path planning and obstacle avoidance processing according to the vehicle visual information; and searching for a parking space when automatically driving to the vicinity of the available parking spaces, and performing parking after finding an available parking space that satisfies a parking condition.

Abstract: Provided are an automatic parking method and device. The automatic parking method includes: acquiring a global waypoint map of a parking lot where a vehicle is to be parked and position information of available parking spaces, and performing global path planning according to the global waypoint map and the available parking space position information; starting automatic driving according to the global path planning, acquiring vehicle visual information, and performing local path planning and obstacle avoidance processing according to the vehicle visual information; and searching for a parking space when automatically driving to the vicinity of the available parking spaces, and performing parking after finding an available parking space that satisfies a parking condition.