The invention belongs to the field of automatic driving vehicle control, and discloses a fully automatic parking control system for parallel spaces of an autonomous vehicle. , The system is composed of a vehicle peripheral environment information module, a vehicle information collection module, a vehicle execution module, an interaction module, an unmanned controller and a fully automatic parkingcontroller, wherein the parallel parking automatic parking control system comprises a vehicle peripheral environment information module, a vehicle information collection module, a vehicle execution module, an interaction module, an unmanned controller and a fully automatic parking controller. The invention can realize automatic steering, automatic braking, automatic throttle, automatic shift, automatic parking and related BCM actions (lights, horns, etc.), and finally complete the fully-automatic parking function of the vehicle. While providing an interactive interface with the unmanned controller and a human-computer interactive interface, The fully automatic parking function can not only be accomplished independently of the unmanned controller (parking is enabled by the man-machine interactive switch), but also can be cooperated with the unmanned controller, so that the unmanned operation of the vehicle driving in the automatic driving mode and the parallel parking in the direction can be realized.