Vehicle parking control method and device under highway hand-free cruise driving condition

The invention provides a vehicle parking control method and device under an expressway hand-free cruise driving condition, and the method comprises the steps: building a surrounding traffic situation dynamic matrix of a road where a target vehicle is located after determining that the takeover state of the target vehicle meets a parking condition; because the matrix fully considers dynamically changing road section scenes and surrounding obstacles of the expressway, the target vehicle can be timely and rapidly controlled to continuously change lanes from the lane to enter the target lane and park in the target lane after determining that the target vehicle meets lane changing conditions based on the matrix. According to the method, safe parking under the highway hand-free cruise driving working condition can be accurately achieved, the adaptive capacity to different lanes, working conditions and the like is improved, the lane changing time is shortened, and the safe parking risk is greatly reduced. And the su