AUTOMATIC PARKING PATH PLANNING METHOD AND APPARATUS, MEDIUM AND DEVICE

The present disclosure provides a method and an apparatus for planning an automatic parking path, a medium and a device and belongs to the field of self driving technologies. The method includes: extracting perception information within a predetermined parking space including a target vehicle place, which is perceived by a vehicle; based on the perception information, identifying a ground sideline of the target parking place, a road sideline and an actual obstacle contour line; cropping the ground sideline and the road sideline intersecting with the ground sideline and taking remaining ground sideline and road sideline as corresponding boundaries of an available parking space of the target parking place; and, performing collision detection based on the corresponding boundaries of the available parking space and the actual obstacle contour line, and based on a result of the collision detection, performing vehicle trajectory planning to obtain an automatic parking planning path. The present disclosure can provide an automatic parking process in a specific environment with a larger free parking space as compared with the prior art, so as to improve a success rate of planning an automatic parking path, and improve a parking efficiency.