Parking method and device, vehicle and storage medium

The invention provides a parking method and device, a vehicle and a storage medium, and the method comprises the steps: continuously obtaining the information of a plurality of parked vehicles within a preset range of the vehicle when the vehicle is in a parking scene; combined features are determined based on the information of the multiple parked vehicles, map construction is conducted according to the combined features, a target map is obtained, and the combined features are used for indicating the position relation among the multiple parked vehicles and the vehicle features of the multiple parked vehicles; and in response to a parking instruction, parking is performed based on the target map. According to the method, the combined features for map construction can be determined by determining the information of the multiple parked vehicles in the parking lot where the vehicle is located, so that the combined features for map construction are more stable, the target map is more accurate, and the parking acc