US Patent 11383699 Vehicle parking

A parking space can be identified. A lateral clearance can be identified when a vehicle is parked in the parking space based on identifying a first door of the vehicle to be provided the lateral clearance when the vehicle is parked. A parking position of the vehicle in the parking space can be determined, including a parking bias angle β between a vehicle longitudinal axis and a parking space longitudinal center axis, and a lateral offset of the vehicle with respect to the parking space longitudinal center axis, based on dimensions of the parking space and the lateral clearance.