A collision avoidance method for a moving device comprising a physical long axis and a short axis, the method characterized by the steps of: determining a target path direction of a moving device, wherein the target path direction is a direction of a navigation path to be used after the moving device is parked in an avoidance area to avoid collision with an other moving device; determining a first candidate parking direction and a second candidate parking direction based on a positional relationship between a straight line of the physical long axis of the moving device and a straight line of a movement direction of the moving device; determining a first direction angle and a second direction angle, wherein the first direction angle is an angle between the first candidate parking direction and the target path direction, and the second direction angle is an angle between the second candidate parking direction and the target path direction; determining, based on the first direction angle and the second direction angle, a target parking direction of the moving device from the first candidate parking direction and the second candidate parking direction; and controlling the moving device to be parked in the avoidance area with the movement direction toward the target parking direction, to avoid collision with the other moving device, wherein the determining a first candidate parking direction and a second candidate parking direction based on a positional relationship between a straight line of the physical long axis of the moving device and a straight line of a movement direction of the moving device, comprises: when the straight line of the physical long axis of the moving device and the straight line of the movement direction are parallel to each other, determining two different directions parallel to a boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively, when the straight line of the physical long axis of the moving device and the straight line of the movement direction are perpendicular to each other, determining two different directions perpendicular to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively. determining a target path direction of a moving device, wherein the target path direction is a direction of a navigation path to be used after the moving device is parked in an avoidance area to avoid collision with an other moving device; determining a first candidate parking direction and a second candidate parking direction based on a positional relationship between a straight line of the physical long axis of the moving device and a straight line of a movement direction of the moving device; determining a first direction angle and a second direction angle, wherein the first direction angle is an angle between the first candidate parking direction and the target path direction, and the second direction angle is an angle between the second candidate parking direction and the target path direction; determining, based on the first direction angle and the second direction angle, a target parking direction of the moving device from the first candidate parking direction and the second candidate parking direction; and controlling the moving device to be parked in the avoidance area with the movement direction toward the target parking direction, to avoid collision with the other moving device, wherein the determining a first candidate parking direction and a second candidate parking direction based on a positional relationship between a straight line of the physical long axis of the moving device and a straight line of a movement direction of the moving device, comprises: when the straight line of the physical long axis of the moving device and the straight line of the movement direction are parallel to each other, determining two different directions parallel to a boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively, when the straight line of the physical long axis of the moving device and the straight line of the movement direction are perpendicular to each other, determining two different directions perpendicular to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively. when the straight line of the physical long axis of the moving device and the straight line of the movement direction are parallel to each other, determining two different directions parallel to a boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively, when the straight line of the physical long axis of the moving device and the straight line of the movement direction are perpendicular to each other, determining two different directions perpendicular to the boundary of the avoidance area as the first candidate parking direction and the second candidate parking direction, respectively.