Parking path planning method and device, control terminal and storage medium

The invention relates to the field of automatic navigation, and discloses a parking path planning method and device, a control terminal and a storage medium, and the method comprises the steps: determining a planned path and a motion state of a vehicle when the vehicle is parked, and calculating a motion error of the vehicle according to the planned path and the motion state; whether the motion error exceeds a preset threshold value or not is determined, and if the motion error exceeds the preset threshold value, it is determined that the parking path of the vehicle needs to be replanned; and according to the motion state of the vehicle, a planned path is regenerated, and the vehicle is controlled to run according to the re-planned path. Therefore, the vehicle can determine whether parking is accurate or not according to the motion error so as to dynamically control the planning path of parking and increase the accuracy of parking. 本发明涉及自动导航领域，公开了一种泊车路径规划方法、装置、控制终端及存储介质，所述方法包括：车辆停泊时，确定所述车辆的规划路径和运动状态，根据所述规划路径和