The invention discloses an annular automatic car storing and picking parking system on an upper layer of a road and a control method thereof, and belongs to the field of mechanical parking devices. The annular automatic car storing and picking parking system on the upper layer of the road comprises a parking device and a control system, according to a parking structure, a plane moving type structure is utilized for car parking and picking, a car bearing board is translated and lifted for cooperation so that a car can move and change positions on a parking platform according to a planned annular route, the structure is simpler and more stable and can be intelligently controlled, the space utilization rate is high, and car parking and picking is safe and reliable; in a control aspect, a carsensor is utilized for detecting measuring information, a PLC controller is utilized for controlling the motion of the car to park or pick up the car, automatic car parking and picking is achieved, the control is simpler and more convenient, the car parking and picking motions are coordinate and stable, and the work is more efficient.