Abstract: Based on the path planning method involving tangency between the circular arc and the straight line, the possible collision conditions during the parking process are analyzed. The parking path is planned for oblique parking spaces, where obstacles and parking space boundaries are evaluated in detail to ensure the rationality of the planning. A parking path collision constraint model is constructed, considering vehicle dynamics and geometric constraints. Distance equations under critical collision conditions are created to determine the safe distance and effective region during the parking process. The results of simulation experiments conducted under different working conditions indicate that collisions can be effectively avoided by the path planning method in oblique parking with varying widths of parking and through lanes and different angles, when the orientation of the parking space is aligned with the direction of vehicle travel. The validity of the planned paths has been verified. The safety and adaptability of the planned paths are evaluated to ensure a safe parking operation.