The invention relates to an automobile automatic driving system based on the fusion of a millimeter radar and a camera, comprising a sensing unit, a driving unit, an image acquisition unit and a control unit. The sensing unit comprises a front-rear sensing module and a left-right sensing module. The front-rear sensing module is used for monitoring the distance and the relative speed difference between a vehicle and a front vehicle in real time. The left and right sensing modules are used for real-time monitoring the distance between the vehicle and the left and right vehicles and judging whether the vehicle and the left and right vehicles are always running in parallel. The image acquisition unit is used for collecting the states of vehicles, pedestrians, obstacles and signals around the vehicle in real time. The control unit receives the corresponding information transmitted by the front-rear sensing module and the left-right sensing module, processes and analyzes the corresponding data, and sends an instruction to the driving unit according to the analysis result. The steering unit includes a steering wheel steering module, a brake module and a speed module. The automobile autopilot system has the beneficial effect that the driving state of the vehicle is appropriately adjusted and the vehicle is safely driven.