Parking method and device based on voxel coordinate system

The invention discloses a voxel coordinate system-based parking method and device, and the method comprises the steps: recognizing a parking space line in a preset range of a vehicle when the vehicle is detected to be in a parking scene, and obtaining a first parking space line; under the condition that the first parking space line is incomplete, the vehicle three-dimensional model and a scene image within a preset range around the vehicle are displayed on a client operation interface; determining a bounding box based on a reference box input by the user and the first parking space line; mapping the bounding box into a voxel coordinate system to obtain a target bounding box; determining whether an obstacle exists in an area range corresponding to the target bounding box; and under the condition that no obstacle exists, the area corresponding to the target bounding box serves as a parking area, and the vehicle is controlled to enter the parking area. According to the scheme, when the parking space line recogni