The invention relates to an automatic parking method based on fusion of vision and ultrasonic perception. The method comprises the following steps that visual parking space detection is carried out, ultrasonic radar parking space detection is carried out, two parking space detection results are fused, and parking space tracking and parking space display are carried out; a target parking space is determined, and a parking speed and a parking track are planned in combination with a current scene map; according to the visual detection and the ultrasonic radar detection, obstacles at a driving area around a vehicle and an edge of the driving area are detected, and the obstacles are subjected to motion estimation; the probability of collision of the vehicle itself and the obstacles is calculated, and if the collision probability is greater than a preset threshold value, an obstacle avoidance function is triggered; and parking track tracking is carried out through a low-speed controller, gear control, vehicle speed control, steering wheel steering control and obstacle avoidance control along the parking track are achieved, and automatic parking is completed. According to the method, thedetection effect of the parking space and the obstacles around the vehicle is improved, the robustness is improved, a motion obstacle track estimation module is added, and the obstacle avoidance reliability is improved.