Aiming at the problem that automatic parking system needs to correctly identify the parking space under multiple working conditions, this paper proposes a parking space recognition method based on distance and visual information fusion of cameras and ultrasonic sensors. This method first identifies the parking space through cameras and ultrasonic sensors, and the parking space type is output if the identification is successful. Otherwise, the information of cameras, ultrasonic sensors and wheel speed sensors is fused to obtain the vehicle parking position characteristic parameters, and the corresponding parking space type is output through fuzzy reasoning. Then, the simulation model of parking space identification under multiple working conditions is built on MATLAB, and the simulation analysis is carried out for different parking space scenarios. The simulation results show that the method is reasonable and reliable. Finally, the real vehicle experiment is carried out under multiple working conditions, and the parking space recognition accuracy is more than 90%, indicating that the method is feasible for practical application.