The invention discloses a method for detecting inclined parking spaces, which comprises the following steps: setting a detection angle a of an ultrasonic ranging sensor, wherein the detection angle a is an included angle between the detection direction of the ultrasonic ranging sensor and the driving direction of a vehicle, and the detection angle a is suitable for inclined parking spaces; Turning on the ultrasonic ranging sensor for ranging, and detecting the first boundary of the vehicle spacing through the first type change of the distance value;
When the first boundary is detected, the continuous running distance of the vehicle is recorded until the ultrasonic ranging sensor detects the second boundary of the vehicle spacing through the second type change of the distance value; Comparing the continuous distance with a preset threshold, and if not less than the preset threshold, identifying the gap between vehicles as an inclined parking space.
The invention also correspondingly discloses a device for detecting inclined parking spaces. By applying the technical scheme of the invention, the parking space in the inclined parking mode can be detected, and help is provided for automobile parking.