Systems and methods for parking a vehicle

A method for navigating a host vehicle relative to a parking space, the method comprising:

• receiving sensed image data acquired by an image sensing system, wherein the sensed image data includes a representation of a parking space;
• determining, based at least in part on analysis of the sensed image data, a first indicator of a left boundary and a second indicator of a right boundary associated with the parking space;
• determining, based at least in part on analysis of the sensed image data, an indicator of an entrance to the parking space;
• determining a parking space approach maneuver initial position, wherein the parking space approach maneuver initial position is determined based on the determined first and second indicators of the left and right boundaries and also based on the determined indicator of the entrance to the parking space;
• wherein the parking space approach maneuver initial position is one from which the host vehicle is able to navigate toward the entrance to the parking space and enter the parking space with an envelope of the host vehicle between the left boundary and the right boundary, and wherein further entry of the host vehicle into the parking space can be performed without requiring the vehicle envelope to intersect with or cross over the left boundary or the right boundary;
• and
• causing activation of one or more actuator systems associated with the host vehicle to cause the host vehicle to navigate into the parking space from the parking space approach maneuver initial position.

A non-transitory computer-readable medium storing instructions for navigating a host vehicle relative to a parking space according to a method, the method comprising:

• receiving sensed image data acquired by an image sensing system, wherein the sensed image data includes a representation of a parking space;
• determining, based at least in part on analysis of the sensed image data, a first indicator of a left boundary and a second indicator of a right boundary associated with the parking space;
• determining, based at least in part on analysis of the sensed image data, an indicator of an entrance to the parking space;
• determining a parking space approach maneuver initial position, wherein the parking space approach maneuver initial position is determined based on the determined first and second indicators of the left and right boundaries and also based on the determined indicator of the entrance to the parking space;
• wherein the parking space approach maneuver initial position is one from which the host vehicle is able to navigate toward the entrance to the parking space and enter the parking space with an envelope of the host vehicle between the left boundary and the right boundary, and wherein further entry of the host vehicle into the parking space can be performed without requiring the vehicle envelope to intersect with or cross over the left boundary or the right boundary;
• and
• causing activation of one or more actuator systems associated with the host vehicle to cause the host vehicle to navigate into the parking space from the parking space approach maneuver initial position.