Automatic parking method, device, equipment and medium

The invention discloses an automatic parking method and device, equipment and a medium, and relates to the field of intelligent parking. Obtaining parking space data, wherein the parking space data is used for describing information of a parking space to be parked; determining a target position of the vehicle based on the parking space data, wherein the target position is used for indicating the position of a reference point on the vehicle after the vehicle is parked; the parking path of the vehicle is determined based on the initial position and the target position of the reference point, the parking path comprises a first arc path and a second arc path, and the circle center of the first arc path is different from that of the second arc path; and based on the parking path, the vehicle is controlled to automatically run to the parking space to be parked, and parking is completed. The number and types of required collection are few, the calculation amount is small, and the efficiency of automatic parking can