A parking pilot method and a device thereof are disclosed. Image detectors capture surrounding images of a vehicle. A speed detector detects speed of the vehicle. A distance detector obtains distance between the vehicle and a barrier. A processor obtains relative coordinates of the vehicle and parking lot and the angle and width of the parking lot with the images, speed and distances. Thereby, the processor creates a preset parking pilot frame and works out a relative position of the preset parking pilot frame and the parking lot. Then, the processor designates the preset parking pilot frame and the parking lot on a display. According to the information on the display, the driver moves the vehicle to an initial position and makes the preset parking pilot frame coincide with the parking lot. Then, the processor instructs the driver to manually park the vehicle, or automatically parks the vehicle.