METHOD AND SYSTEM OF CREATING PARKING MOTION FOR AUTONOMOUS VEHICLES

A method and system for controlling an autonomous vehicle during a parking motion is disclosed. The method includes receiving information, into a processor onboard the vehicle, from at least one sensor, calculating, via a processor onboard the vehicle, a starting vehicle position and a vehicle direction, calculating, via the processor onboard the vehicle, a goal parking position and a goal parking direction based upon the received information from the sensor, calculating, via the processor onboard the vehicle, a single arch or double arch motion based upon the starting vehicle position, the starting vehicle direction, the goal parking position, and the goal parking direction, and controlling the vehicle, via instructions provided by the processor onboard the vehicle, based upon the calculated single arch or double arch motion and the received information from the at least one sensor.