Vehicle positioning method and device for automatic parking

The invention relates to a vehicle positioning method and device for automatic parking, and the method comprises the steps: obtaining a parking starting command, responding to the parking starting command, obtaining a look-around image of a current vehicle in real time, obtaining a parking space information set and a skeleton point set around the position where the current vehicle is located based on the look-around image, and carrying out the positioning of the vehicle. And traversing the parking space information set, establishing a parking coordinate system under the condition that the parking space information meets a preset condition, generating a positioning map according to the skeleton point set and the parking coordinate system, and positioning the current vehicle in real time. The visual information is used for positioning, accumulated errors caused by the inertial measurement unit and the wheel speed sensor can be eliminated, the positioning precision is improved, the skeleton points are adopted fo