An in-vehicle device for automatic parking assistance of a vehicle, the in-vehicle device comprising: a communication interface through which the in-vehicle device receives a parking navigation path from an external device, the parking navigation path comprising one or more road sections, the one or more road sections comprising linear road sections or arc road sections or both; and a parking controller coupled with the communication interface, the parking controller being configured to: identify line-shape features of each road section, the line-shape features comprising an orientation of a linear road section or a radius of curvature of an arc road section, or both; determine whether the vehicle can travel along a road section based on line-shape features of the road section; in the case that the determination is affirmative, control a driving behavior of the vehicle such that the vehicle travels along the road section; and in the case that the determination is negative, determine a new travelling path and control a driving behavior of the vehicle such that the vehicle travels along the new travelling path, characterized in that, in the case that the current road section is identified as an arc road section with its radius of curvature being smaller than the minimum turning radius of the vehicle, the parking controller is configured to calculate an arc road section as the new travelling path, wherein an optimum turning radius is taken as a turning radius of the vehicle, wherein the optimum turning radius is a sum of the minimum turning radius of the vehicle and an optimized compensation thereof, and wherein the optimized compensation is determined based on attributes of a vehicle steering system and empirical and/or mathematic models. a communication interface through which the in-vehicle device receives a parking navigation path from an external device, the parking navigation path comprising one or more road sections, the one or more road sections comprising linear road sections or arc road sections or both; and a parking controller coupled with the communication interface, the parking controller being configured to: identify line-shape features of each road section, the line-shape features comprising an orientation of a linear road section or a radius of curvature of an arc road section, or both; determine whether the vehicle can travel along a road section based on line-shape features of the road section; in the case that the determination is affirmative, control a driving behavior of the vehicle such that the vehicle travels along the road section; and in the case that the determination is negative, determine a new travelling path and control a driving behavior of the vehicle such that the vehicle travels along the new travelling path, identify line-shape features of each road section, the line-shape features comprising an orientation of a linear road section or a radius of curvature of an arc road section, or both; determine whether the vehicle can travel along a road section based on line-shape features of the road section; in the case that the determination is affirmative, control a driving behavior of the vehicle such that the vehicle travels along the road section; and in the case that the determination is negative, determine a new travelling path and control a driving behavior of the vehicle such that the vehicle travels along the new travelling path, characterized in that, in the case that the current road section is identified as an arc road section with its radius of curvature being smaller than the minimum turning radius of the vehicle, the parking controller is configured to calculate an arc road section as the new travelling path, wherein an optimum turning radius is taken as a turning radius of the vehicle, wherein the optimum turning radius is a sum of the minimum turning radius of the vehicle and an optimized compensation thereof, and wherein the optimized compensation is determined based on attributes of a vehicle steering system and empirical and/or mathematic models.