Patent attributes
A parking assist system of a vehicle includes a plurality of sensors disposed at a vehicle and having respective fields of sensing exterior of the vehicle. A vehicle control is operable to determine a target parking space responsive to the processor. The control (i) uses two intersecting lines, with one passing through a start node and one passing through an end node, (ii) uses circles that are tangent to respective ones of the intersecting lines, with each circle having a radius that approximates a minimum turning radius of the vehicle, and (iii) determines possible paths of travel using straight path sections tangent to one or more of the circles and curved path sections that follow a curvature of one or more of the circles. The control selects a target path of travel in accordance with a plurality of objectives for the path of travel of the vehicle.
