The invention provides a multi-sensor-combination based automatic parking method. The method comprises the following steps: determining whether the treading stroke of a brake pedal is less than 90%; if so, determining whether a gear of a car is switched to a forward gear; if so, determining whether the car is in a stopping state; if so, determining whether the treading stroke of the brake pedal is 0; if so, determining whether the treading stroke of the brake pedal is beyond 20%; and if so, performing parking action through a parking performing mechanism. According to the method, the current car state and parking condition are determined by interacting information of a plurality of sensors, thus the parking is convenient; and moreover, the circumstance that the car on a slope slips can be effectively prevented.