METHOD AND APPARATUS FOR GENERATING PARKING TRAJECTORY, DEVICE, AND STORAGE MEDIUM

A method for generating a parking trajectory, an apparatus (170), a device (180), and a storage medium. The method includes: S101, collecting lane information ahead of a vehicle to be parked, and a position and a motion state of an obstacle around the vehicle to be parked; S102, determining positional relationships between the obstacle and the vehicle and between the obstacle and a lane where the vehicle is located; S103, determining an obstacle strategy according to the positional relationships, the lane information and the motion state of the obstacle; generating a lateral driving behavior control strategy according to a motion state of the vehicle, the obstacle strategy and the lane information, and generating a longitudinal driving behavior control strategy according to the lane information, the position of the obstacle and the motion state of the obstacle; S104, generating a parking trajectory of the vehicle to be parked according to the lateral driving behavior control strategy and the longitudinal driving behavior control strategy. The method improves the accuracy of the method for generating the parking trajectory.