Method and device for automatic parking control based on data fusion

The invention provides a method and device for automatic parking control based on data fusion. The method comprises the steps that (S1) a parking request is received, a current car speed is obtained, and whether the current car speed is lower than a preset car speed thread is judged, wherein a parking control system will be started if the current car speed is lower than the threshold; (S2) the angle of a parking camera is adjusted to a first preset angle, and a parking radar is started; (S3) a parking space is detected through methods based on image identification method and obstacle detection respectively; (S4) when the parking space is found first by the method based on the image identification, the next step will be executed, and otherwise the step S7 will be executed; (S5) a position LR of a right edge of a marking line of the parking space relative to the parking radar is computed; (S6) whether LR is bigger than 0 is judged, wherein the next step will be executed if LR is bigger than 0, and otherwise the