The present disclosure provides a method, a device, and a system for parking a truck. The method includes a main controller acquiring real-time point cloud data by scanning a lane crossed by a shore crane using a laser radar; the main controller clustering the real-time point cloud data to obtain a set of point clouds for the truck moving in the lane; and the main controller obtaining a real-time distance from the moving truck to a target parking space based on the set of point clouds and a vehicle point cloud model; the main controller broadcasting a message containing the real-time distance, such that a vehicle controller controls the moving truck to stop at the target parking space based on the real-time distance contained in the message.