Valet parking method and device based on hierarchical finite-state machine

The invention discloses a valet parking method and device based on a hierarchical finite-state machine, and relates to the technical field of automatic driving automobiles, and the valet parking method and device based on the hierarchical finite-state machine comprises the following steps: obtaining driving state information of a vehicle and surrounding vehicles, upper-layer state machine events of switching of the initial state, the driving state, the parking state and the ending state of the vehicle are set; according to the selection of a driver, the own vehicle information and the surrounding vehicle state information, defining a driving and parking lower-layer state machine event, and according to the upper-layer state machine event and the driving and parking lower-layer state machine event, selecting a current optimal vehicle behavior; and according to the current optimal vehicle behavior, vehicle recall or parking is completed. By means of the method, behavior decisions of the vehicle in the valet par