Method and system for automatic parking of vehicle

The present invention provides an automatic parking control method of a vehicle including the steps of: a) starting automatic driving along a parking path; b) receiving driving speed of the vehicle and distance information between an obstacle and the vehicle; c) comparing the inputted driving speed with a first reference value; d) executing first braking control if the inputted driving speed is larger than the first reference value; e) comparing the inputted distance information with a second reference value if the inputted driving speed is not larger than the first reference value; f) executing second braking control if the inputted distance information is larger than the second reference value; and g) judging whether the vehicle arrives at a parking target position or not, and finishing the automatic driving if the vehicle arrives at the parking target position. When dangerous situation capable of causing an accident during automatic parking process occurs, the method can perform urgent braking, and can realize the urgent braking more actively by being able to change the time of performing the urgent braking differently according to the driving speed on the basis of the distance information with the obstacle which is a reference of urgent braking. [Reference numerals] (AA) START; (BB,EE,GG) YES; (CC, DD,FF) NO; (HH) END; (S100) Automatic driving; (S200) Input driving speed and distance information from obstacle; (S300) Driving speed > first reference value ?; (S400) First automatic braking control execution; (S500) Distance information > second reference value ?; (S600) Second braking control execution; (S700) Does parking target position arrive ?; (S800) Finish automatic driving