Autonomous parking of vehicles inperpendicular parking spots

A method for autonomously parking a vehicle into a perpendicular parking spot, the method comprising:

• detecting, via a sensor, the perpendicular parking spot and an outer boundary of the perpendicular parking spot;
• determining, via a processor, a linear parking path located within the perpendicular parking spot and based on the outer boundary, wherein the linear parking path extends in a first direction and is spaced apart from the outer boundary in a second direction crossing the first direction;
• and
• autonomously turning into the perpendicular parking spot such that a front corner of the vehicle travels along the linear parking path.

A tangible computer readable medium including instructions which, when executed, cause a vehicle to:

• detect, via a camera, a perpendicular parking spot and an outer boundary of the perpendicular parking spot;
• determine, via a processor, a linear parking path located within the perpendicular parking spot and based on the outer boundary, wherein the linear parking path extends in a first direction and is spaced apart from the outer boundary in a second direction crossing the first direction;
• and
• autonomously turn into the perpendicular parking spot such that a front corner travels along the linear parking path.