US Patent 10167016 Vehicle with park assist

A vehicle including: motor(s), steering, sensors, processor(s) configured to: (a) load a stored parking spot; (b) via the sensors, map an area leading the vehicle; (c) intersect virtual segments with locations on the map based on (a); (d) compare a current heading, based on (c), to a desired heading, based on (a); (e) automatically recast the vehicle, via the steering based on (d).