Automatic parking planning method and device, electronic equipment and storage medium

The invention discloses an automatic parking planning method and device, electronic equipment and a storage medium, and the method comprises the following steps: determining the current attitude information of a vehicle body when the angular point coordinates of a parking space are recognized, and the attitude information comprises the height Hr of a rear center shaft; similarity calculation of the current attitude information is carried out in an attitude information model corresponding to the rear center axis height Hr, N sets of target attitude information are determined, and N is larger than or equal to 2; calculating a target extrinsic parameter matrix according to N groups of extrinsic parameter matrixes corresponding to the N groups of target attitude information; and updating the parking space angular point coordinates according to the target external parameter matrix. The method has the advantages that the defects that when a single tire of the vehicle is under-pressure and the load of the vehicle is