The invention discloses an automatic vehicle collecting method and device and belongs to the technical field of vehicle control. The automatic vehicle collecting method includes: acquiring position information of a target terminal and a vehicle; acquiring an included angle between the vehicle and the target terminal according to the position information of the target terminal and the vehicle; detecting whether an obstacle exists around the vehicle, and if yes, acquiring minimum distance between the vehicle and the obstacle; calculating to acquire an enhanced signal according to the included angle and the minimum distance, wherein the enhanced signal is used for expressing smoothness of the vehicle during driving; adopting a machine learning method to determine a driving strategy according to the included angle, the minimum distance and the enhanced signal acquired by calculating; controlling the vehicle to travel to a position where the target terminal is located according to the driving strategy. The automatic vehicle collecting method and device realizes automatic vehicle collecting and is high in practicability.