Path planning method and system applied to various parking scenes and medium

The invention provides a path planning method and system applied to various parking scenes and a medium. According to the invention, an environmental perception module, a path optimization module, a one-time path planning module and an output module are adopted, the one-time path planning module comprises a structure in which a path planning modeling module, a discretization module and an optimization solving module are sequentially connected, and the environmental perception module perform parking space and obstacle detection based on vision and ultrasonic radar; the path optimization moduleperforms iterative optimization on one-time path planning based on a time-space decoupling initialization strategy; the one-time path planning module completes one-time path planning based on certaininitial guess; and the output module outputs an optimal path planning method through a certain screening mechanism. The path planning method solves technical problems that the path planning method inthe prior art cannot be app