An auxiliary parking method implemented by an apparatus or a system, comprising: starting a vehicle image acquisition mode to acquire an image of the vehicle by a rear view camera; receiving a plurality of radio frequency signals synchronously transmitted by at least two radio frequency identification transmitters distributed in a parking area in real time; determining a current position of a vehicle in the parking area according to the plurality of radio frequency signals as received; and displaying information identifying a vehicle virtual position to be parked in the image of the vehicle according to the current position of the vehicle in the parking area as determined and at least one available vehicle virtual position in the parking area, wherein determining the current position of the vehicle in the parking area according to the plurality of radio frequency signals as received comprises: determining current positions of a head portion and a tail portion of the vehicle in the parking area according to the plurality of radio frequency signals received by the head portion and the tail portion of the vehicle, and the auxiliary parking method further comprising: determining a central axis of the vehicle according to the current positions of the head portion and the tail portion of the vehicle in the parking area; and displaying an identification offset line of the vehicle with relative to the vehicle virtual position to be parked in the image of the vehicle according to the central axis of the vehicle and the vehicle virtual position to be parked, wherein the identification offset line is calculated in the image of the vehicle according to a vertical distance L and an angle α, the vertical distance L is from a coordinate of the rear view camera of the vehicle to a central axis of the vehicle virtual position to be parked, and the angle α is between the central axis of the vehicle and a horizontal line of the vehicle virtual position to be parked, and wherein the vehicle virtual position to be parked is an available parking space in the parking area. starting a vehicle image acquisition mode to acquire an image of the vehicle by a rear view camera; receiving a plurality of radio frequency signals synchronously transmitted by at least two radio frequency identification transmitters distributed in a parking area in real time; determining a current position of a vehicle in the parking area according to the plurality of radio frequency signals as received; and displaying information identifying a vehicle virtual position to be parked in the image of the vehicle according to the current position of the vehicle in the parking area as determined and at least one available vehicle virtual position in the parking area, wherein determining the current position of the vehicle in the parking area according to the plurality of radio frequency signals as received comprises: determining current positions of a head portion and a tail portion of the vehicle in the parking area according to the plurality of radio frequency signals received by the head portion and the tail portion of the vehicle, and the auxiliary parking method further comprising: determining a central axis of the vehicle according to the current positions of the head portion and the tail portion of the vehicle in the parking area; and displaying an identification offset line of the vehicle with relative to the vehicle virtual position to be parked in the image of the vehicle according to the central axis of the vehicle and the vehicle virtual position to be parked, wherein the identification offset line is calculated in the image of the vehicle according to a vertical distance L and an angle α, the vertical distance L is from a coordinate of the rear view camera of the vehicle to a central axis of the vehicle virtual position to be parked, and the angle α is between the central axis of the vehicle and a horizontal line of the vehicle virtual position to be parked, and wherein the vehicle virtual position to be parked is an available parking space in the parking area. determining a central axis of the vehicle according to the current positions of the head portion and the tail portion of the vehicle in the parking area; and displaying an identification offset line of the vehicle with relative to the vehicle virtual position to be parked in the image of the vehicle according to the central axis of the vehicle and the vehicle virtual position to be parked, wherein the identification offset line is calculated in the image of the vehicle according to a vertical distance L and an angle α, the vertical distance L is from a coordinate of the rear view camera of the vehicle to a central axis of the vehicle virtual position to be parked, and the angle α is between the central axis of the vehicle and a horizontal line of the vehicle virtual position to be parked, and wherein the vehicle virtual position to be parked is an available parking space in the parking area.