System and method for selecting an intermediate parking goal in autonomous delivery

A method for determining an intermediate parking goal of an autonomous vehicle, comprising:

• preparing, by a controller of the autonomous vehicle, a driving plan toward a final parking goal and a parking plan to park at the final parking goal;
• driving, by the controller, the autonomous vehicle toward the final parking goal according to the driving plan;
• switching, by the controller, the driving plan to the parking plan when the autonomous vehicle is within a predetermined distance to the final parking goal;
• and
• determining the intermediate parking goal and driving the autonomous vehicle to the intermediate parking goal when the final parking goal is inaccessible.

A non-transitory computer readable medium storing computer executable code, wherein the computer executable code, when executed at a processor of a controller in an autonomous vehicle, is configured to:

• prepare a driving plan toward a final parking goal and a parking plan to park at the final parking goal;
• drive the autonomous vehicle toward the final parking goal according to the driving plan;
• switch from the driving plan to the parking plan when the autonomous vehicle is within a predetermined distance to the final parking goal;
• and
• when the final parking goal is inaccessible:
• determine the intermediate parking goal, and drive the autonomous vehicle to the intermediate parking goal.