Vehicle parking control method and device, computer equipment and storage medium

The invention relates to the technical field of auxiliary automatic parking, and discloses a vehicle parking control method and device, computer equipment and a storage medium. By setting an early warning range, when it is monitored that at least one vertex of a moving target enters the early warning range, the relative driving direction relation between the moving target and a vehicle is determined; obtaining the relative speed and coordinates of the first vertex of the moving target and the coordinates of the vertexes of the vehicle, and calculating the time required for collision between the vehicle and the moving target based on the relative driving direction relation between the moving target and the vehicle, the relative speed and coordinates of the first vertex of the moving target and the coordinates of the vertexes of the vehicle, the vehicle is controlled to be braked based on the time required for collision, whether the moving target colliding with the vehicle exists in the vehicle parking process