OBTAINING PARKING ZONES FOR PICK UP AND DROP OFF

Techniques for generating and/or utilizing parking zones for pickup and/or drop off scenarios are described herein. A vehicle (such as an autonomous vehicle) may receive a request to transport a passenger from a starting location to a destination location. The request may include or otherwise be associated with a parking zone proximate the starting location within which the vehicle is to pick up the passenger. The vehicle may navigate to the parking zone and identify the one or more parking spaces within the parking zone. The vehicle may determine a subset of the parking spaces based on parameters associated with the parking zone (e.g., filter out non-conforming parking spaces). The vehicle can generate candidate actions (e.g., trajectories) to the subset of parking spaces, determine a control trajectory that leads to one of the parking spaces, and control the vehicle based on the control trajectory.