Parking control method and device based on self-learning line

The invention provides a parking control method based on a self-learning line, and the method comprises the steps: collecting environment information of a starting point, carrying out vision-based instant positioning on a preset region corresponding to the starting point, building a VSLAM through a map, and generating a VSLAM map; in the driving process of a vehicle from the starting point to a parking space, calculating and recording positioning information in a parking path according to vehicle course angle information, and generating a vehicle dynamics map; when an autonomous parking instruction is received, recognizing the relative position information of the vehicle according to the VSLAM map, and taking over the vehicle; and performing path following control according to the vehicledynamics map information, and autonomously parking the vehicle in the parking space. The problem of high cost caused by the fact that the VSLAM technology is adopted in the whole map is avoided, meanwhile, long-distance parki