Based on the path planning method that ensures tangency between arcs and straight lines, potential collision conditions during parking are analyzed. Moreover, parking path planning for oblique spaces is conducted, with obstacles and parking space boundaries evaluated in detail to ensure the reasonableness of the planning. Additionally, a collision constraint model for the parking path is constructed to account for the dynamic characteristics and geometric constraints of vehicle motion. Distance equations for critical collision conditions are developed to determine safe distances and effective areas during parking maneuvers. Simulation experiments conducted under various working conditions demonstrate that collision avoidance is effectively achieved through the path planning method, which aligns with the vehicle"s traveling direction and accommodates varying lane widths. Ultimately, the validity of the planned paths is verified, and the safety and adaptability of these paths are assessed to ensure secure parki