Parking environment sensing method and device without parking space line, vehicle and computer readable storage medium

The invention discloses a parking space line-free parking environment sensing method and device, a vehicle and a computer readable storage medium. The method comprises the following steps: acquiring first all-round images corresponding to all all-round cameras of a first vehicle; determining a drivable area boundary corresponding to each first look-around image; and projecting each travelable area boundary to a bird's-eye view angle to obtain a travelable area. When roadside parking without parking space lines is carried out, the vehicle carries out environment perception through the travelable area boundaries corresponding to the multiple look-around images to accurately obtain the travelable area, and compared with environment perception through a laser radar, the cost can be effectively reduced, the calculated amount of point cloud data can be reduced, and the accuracy of parking space line parking is improved. Therefore, the efficiency and accuracy of driving area detection can be improved, and the accura