An automatic parking method of a vehicle, comprising: capturing an image of surroundings of the vehicle and converting the captured image into a top view image; recognizing a parking space (A, B, C) on the basis of the converted top view image; sensing an obstacle in the parking space surroundings; detecting a first vehicle entry point and a second vehicle entry point (I2, I2_r) of the parking space for parking the vehicle using information on the sensed obstacle in the surroundings and information on a parking line in the parking space (A, B, C); and calculating a parking path of the vehicle using the first vehicle entry point and the second vehicle entry point which have been detected, characterized in that the parking line comprises a boundary parking line (P11 to P12) that partitions the parking space, and an entry parking line (R11 to R13) through which the vehicle enters to park in the parking space, and the first vehicle entry point or the second vehicle entry point comprises an intersection at which the boundary parking line and the entry parking line meet, and in that the automatic parking method further comprises: when failing to detect the second vehicle entry point, detecting a point on the obstacle in the surroundings at a nearest distance (q) to the first vehicle entry point; and generating the second vehicle entry point based on an intersection at which the entry parking line meets an extension line extending from the detected point on the obstacle in the surroundings and in parallel to the boundary parking line, or in that the automatic parking further comprises: when failing to detect the second vehicle entry point, detecting a point on the obstacle in the surroundings at a nearest distance (q) to the boundary parking line; and generating the second vehicle entry point based on an intersection at which the entry parking line meets an extension line extending from the detected point on the obstacle in the surroundings and in parallel to the boundary parking line. capturing an image of surroundings of the vehicle and converting the captured image into a top view image; recognizing a parking space (A, B, C) on the basis of the converted top view image; sensing an obstacle in the parking space surroundings; detecting a first vehicle entry point and a second vehicle entry point (I2, I2_r) of the parking space for parking the vehicle using information on the sensed obstacle in the surroundings and information on a parking line in the parking space (A, B, C); and calculating a parking path of the vehicle using the first vehicle entry point and the second vehicle entry point which have been detected, characterized in that the parking line comprises a boundary parking line (P11 to P12) that partitions the parking space, and an entry parking line (R11 to R13) through which the vehicle enters to park in the parking space, and the first vehicle entry point or the second vehicle entry point comprises an intersection at which the boundary parking line and the entry parking line meet, and in that the automatic parking method further comprises: when failing to detect the second vehicle entry point, detecting a point on the obstacle in the surroundings at a nearest distance (q) to the first vehicle entry point; and generating the second vehicle entry point based on an intersection at which the entry parking line meets an extension line extending from the detected point on the obstacle in the surroundings and in parallel to the boundary parking line, or in that the automatic parking further comprises: when failing to detect the second vehicle entry point, detecting a point on the obstacle in the surroundings at a nearest distance (q) to the boundary parking line; and generating the second vehicle entry point based on an intersection at which the entry parking line meets an extension line extending from the detected point on the obstacle in the surroundings and in parallel to the boundary parking line. when failing to detect the second vehicle entry point, detecting a point on the obstacle in the surroundings at a nearest distance (q) to the first vehicle entry point; and generating the second vehicle entry point based on an intersection at which the entry parking line meets an extension line extending from the detected point on the obstacle in the surroundings and in parallel to the boundary parking line, or in that the automatic parking further comprises: when failing to detect the second vehicle entry point, detecting a point on the obstacle in the surroundings at a nearest distance (q) to the boundary parking line; and generating the second vehicle entry point based on an intersection at which the entry parking line meets an extension line extending from the detected point on the obstacle in the surroundings and in parallel to the boundary parking line. when failing to detect the second vehicle entry point, detecting a point on the obstacle in the surroundings at a nearest distance (q) to the boundary parking line; and generating the second vehicle entry point based on an intersection at which the entry parking line meets an extension line extending from the detected point on the obstacle in the surroundings and in parallel to the boundary parking line.