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.
1. A computing device comprising a processor and a memory, the memory storing instructions executable by the processor such that the computing device is programmed to:
identify a parking space;
identify a lateral clearance 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;
determine a parking position of the vehicle in the parking space, 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; and
actuate one or more components in the vehicle in response to determining the parking position.
2. The computing device of claim 1 , further programmed to determine the dimension of the parking space from vehicle sensor data detecting a longitudinal boundary of the parking space.
3. The computing device of claim 2 , further programmed to determine the parking bias angle β based on detecting an object on a different side of the longitudinal boundary of the parking space from a side of the longitudinal boundary of the parking space in which the vehicle is to be parked.
4. The computing device of claim 1 , wherein the lateral clearance is specified for one of a plurality of door-openings in the vehicle.
5. The computing device of claim 1 , further programmed to determine the lateral clearance based on a door-opening distance selected from a plurality of door-opening distances.
6. The computing device of claim 1 , further programmed to determine the lateral clearance based on at least one of a stored user preference or an occupant location within the vehicle.
7. The computing device of claim 1 , further programmed to determine the angle β based on a ratio of the lateral clearance to a longitudinal distance that is based on a length of the vehicle and a longitudinal clearance.
8. The computing device of claim 7 , wherein the longitudinal distance is calculated as the sum of (1) a distance from a portion of the length of the vehicle extending from a point shared with the lateral clearance to a front or rear edge of the vehicle and (2) the longitudinal clearance.
9. The computing device of claim 8 , wherein a line including the longitudinal distance is perpendicular to a line including the lateral clearance.
10. The computing device of claim 7 , wherein a line including the longitudinal distance is parallel to a longitudinal axis of the vehicle.
11. The computing device of claim 1 , further programmed to determine the angle β based on iteratively determining respective ratios of respective lateral clearances and longitudinal distances.
12. The computing device of claim 1 , wherein one of the angle β is nonzero and the lateral offset is zero.
13. The computing device of claim 1 , wherein the parking position includes parking vehicle one of front-first and rear-first in the parking space.
14. The computing device of claim 1 , further programmed to actuate the one or more components in the vehicle to park the vehicle at the parking position.
15. A method, comprising:
identifying a parking space;
identifying a lateral clearance 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;
determining a parking position of the vehicle in the parking space, 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; and
actuating one or more components in the vehicle in response to determining the parking position.
16. The method of claim 15 , further comprising determining the dimension of the parking space from vehicle sensor data detecting a longitudinal boundary of the parking space.
17. The method of claim 16 , further comprising determining the parking bias angle β based on detecting an object on a different side of the longitudinal boundary of the parking space from a side of the longitudinal boundary of the parking space in which the vehicle is to be parked.
18. The method of claim 15 , further comprising determining the angle β based on a ratio of the lateral clearance to a longitudinal distance that is based on a length of the vehicle and a longitudinal clearance.
19. The method of claim 18 , wherein the longitudinal distance is calculated as the sum of (1) a distance from a portion of the length of the vehicle extending from a point shared with the lateral clearance to a front or rear edge of the vehicle and (2) the longitudinal clearance.
20. The method of claim 19 , wherein a line including the longitudinal distance is perpendicular to a line including the lateral clearance.