Diagonal Parking Space Detection Method, and Automatic Parking Method and System

Provided are a diagonal parking space detection method and device, and an automatic parking method and system. The diagonal parking space detection method includes: operation S determining a target diagonal parking space in multiple diagonal parking spaces arranged along a reference line, wherein the target diagonal parking space is located between a first reference parking space and a second reference parking space; operation S detecting a first reference point identifying an intersection point between the first reference parking space and the reference line; operation S calculating a slope of the target diagonal parking space; operation S detecting a second reference point identifying an intersection point between the second reference parking spacer and the reference line; and operation S calculating a width of the target diagonal parking space.