Auto Parking Method, Apparatus, and System

An auto parking method includes obtaining an initial pose of a vehicle and a vehicle drivable area, where the vehicle drivable area comprises a parking space area; determining, based on a first constraint condition and a second constraint condition, a first target status point indicating a position of the vehicle and a posture of the vehicle entering the parking space area from the initial pose; planning a first track from the initial pose to the first target status point; and determining, after the vehicle reaches the first target status point from the initial pose and based on a real-time pose of the vehicle in the parking space area, a second track of the vehicle in the parking space area.