(57) Methods, apparatuses, device, and storage media for autonomous parking are disclosed. The present disclosure relates to the field of autonomous parking. A method of autonomous parking according to the present disclosure includes determining a recommended driving route for autonomous parking; determining a position of a vehicle in the recommended driving route; determining whether the position of the vehicle is in a first road environment; and in response to determining that the vehicle is in the first road environment, determining a driving trajectory point of the vehicle in the first road environment based on the acquired image information of the first road environment and according to a pre-trained driving model. According to the solution of the present disclosure, it is possible to unbind the driving route from the specific parking area, not only to reduce the time and resource cost of re-learning and training, but also to be simple, convenient and easy to mass-produce.
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