Automatic parking method and device

An automatic parking device, comprising a T-box information interaction sub-device, an on-board visual sensor and an APA controller, wherein

• the T-box information interaction sub-device performs information interaction with a parking lot transmission device when a vehicle enters an entrance of a parking lot where the vehicle is to be parked, and acquires a global waypoint map of the parking lot and position information of available parking spaces;
• the on-board visual sensor acquires vehicle visual information;
• and
• the APA controller performs global path planning according to the global waypoint map and the position information of available parking spaces, performs local path planning and obstacle avoidance processing according to the vehicle visual information, and performs parking according to an available parking space that is found by the on-board visual sensor and satisfies a parking condition when automatically driving to the vicinity of the available parking spaces;
• and
• the APA controller extracts the type and number of intersections in the parking lot from the global waypoint map, then extract a crossing behavior of each intersection according to the global path planning sequence, extract, after identifying front intersection information, a crossing behavior of a current intersection, and cross the current intersection according to the extracted crossing behavior.