An automatic parking device, comprising: a sensor configured to sense a surrounding environment of a vehicle; and a control device configured to: configure a parking path and steering and speed on the parking path using the sensed surrounding environment in advance; sense movement characteristics of an object detected in the vicinity of the vehicle; expect a movement path of the object in consideration of the sensed movement characteristics; and when it is determined that the object to move along the expected movement path will interfere with the vehicle to move for parking, adjust the configured parking path of the vehicle and/or driving on the configured parking path to avoid the object; characterized in that when it is sensed that the object approaches the vehicle from the front of the vehicle, the control device is configured to differently adjust the configured parking path and the driving on the parking path based on whether the expected movement path of the object crosses with the configured parking path of the vehicle, wherein the control device is configured to: when it is determined that the expected movement path of the object approaching from the front of the vehicle crosses with the configured parking path of the vehicle, adjust the configured parking path to avoid the object, and when it is determined that the expected movement path of the object approaching from the front of the vehicle does not cross with the configured parking path of the vehicle but is close to the configured parking path, drive the vehicle along the configured parking path and adjust the speed of the vehicle to minimize a probability of collision with the object. a sensor configured to sense a surrounding environment of a vehicle; and a control device configured to: configure a parking path and steering and speed on the parking path using the sensed surrounding environment in advance; sense movement characteristics of an object detected in the vicinity of the vehicle; expect a movement path of the object in consideration of the sensed movement characteristics; and when it is determined that the object to move along the expected movement path will interfere with the vehicle to move for parking, adjust the configured parking path of the vehicle and/or driving on the configured parking path to avoid the object; characterized in that when it is sensed that the object approaches the vehicle from the front of the vehicle, the control device is configured to differently adjust the configured parking path and the driving on the parking path based on whether the expected movement path of the object crosses with the configured parking path of the vehicle, wherein the control device is configured to: when it is determined that the expected movement path of the object approaching from the front of the vehicle crosses with the configured parking path of the vehicle, adjust the configured parking path to avoid the object, and when it is determined that the expected movement path of the object approaching from the front of the vehicle does not cross with the configured parking path of the vehicle but is close to the configured parking path, drive the vehicle along the configured parking path and adjust the speed of the vehicle to minimize a probability of collision with the object. configure a parking path and steering and speed on the parking path using the sensed surrounding environment in advance; sense movement characteristics of an object detected in the vicinity of the vehicle; expect a movement path of the object in consideration of the sensed movement characteristics; and when it is determined that the object to move along the expected movement path will interfere with the vehicle to move for parking, adjust the configured parking path of the vehicle and/or driving on the configured parking path to avoid the object; characterized in that when it is sensed that the object approaches the vehicle from the front of the vehicle, the control device is configured to differently adjust the configured parking path and the driving on the parking path based on whether the expected movement path of the object crosses with the configured parking path of the vehicle, wherein the control device is configured to: when it is determined that the expected movement path of the object approaching from the front of the vehicle crosses with the configured parking path of the vehicle, adjust the configured parking path to avoid the object, and when it is determined that the expected movement path of the object approaching from the front of the vehicle does not cross with the configured parking path of the vehicle but is close to the configured parking path, drive the vehicle along the configured parking path and adjust the speed of the vehicle to minimize a probability of collision with the object. when it is determined that the expected movement path of the object approaching from the front of the vehicle crosses with the configured parking path of the vehicle, adjust the configured parking path to avoid the object, and when it is determined that the expected movement path of the object approaching from the front of the vehicle does not cross with the configured parking path of the vehicle but is close to the configured parking path, drive the vehicle along the configured parking path and adjust the speed of the vehicle to minimize a probability of collision with the object.