A method of optimizing a parking location for a vehicle, comprising: obtaining a map corresponding to a desired parking location of the vehicle; identifying objectives of the map based on multiple parameters including collision avoidance, driver time, legal constraints and social consensus, wherein said legal constraints include parking restrictions including at least one of an allowable distance of a wheel of a vehicle to a curb and an allowable distance of a vehicle from a fire hydrant or a cross-walk, wherein said social consensus include social parking parameters including at least one of consistent vehicle alignment, vehicle alignment with respect to a curb, and spacing between parallel or adjacent vehicles; constructing a cost function to determine an optimal parking location based on a proximity to the desired parking location and the identified objectives; identifying the optimal parking location of the vehicle by minimizing a value of the cost function; updating the map with updated data from multiple sensors mounted to the vehicle while the vehicle approaches the optimal parking location; updating the identified objectives and the cost function based on the updated map; identifying a new optimal parking location based on the updated cost function; discarding the previously identified optimal parking location and selecting the newly identified optimal parking location as the vehicle's parking location in response to determining the previously identified optimal parking location fails to satisfy one of the identified objectives according to the updated map; and in response to determining the previously identified optimal parking location satisfies the identified objectives according to the updated map and in response to determining the newly identified optimal parking location is less than a predetermined distance away from the previously identified optimal parking location, discarding the newly identified optimal parking location and selecting the previously identified optimal parking location as the vehicle's parking location to reduce a number of restarts associated with changing the vehicle's parking location. obtaining a map corresponding to a desired parking location of the vehicle; identifying objectives of the map based on multiple parameters including collision avoidance, driver time, legal constraints and social consensus, wherein said legal constraints include parking restrictions including at least one of an allowable distance of a wheel of a vehicle to a curb and an allowable distance of a vehicle from a fire hydrant or a cross-walk, wherein said social consensus include social parking parameters including at least one of consistent vehicle alignment, vehicle alignment with respect to a curb, and spacing between parallel or adjacent vehicles; constructing a cost function to determine an optimal parking location based on a proximity to the desired parking location and the identified objectives; identifying the optimal parking location of the vehicle by minimizing a value of the cost function; updating the map with updated data from multiple sensors mounted to the vehicle while the vehicle approaches the optimal parking location; updating the identified objectives and the cost function based on the updated map; identifying a new optimal parking location based on the updated cost function; discarding the previously identified optimal parking location and selecting the newly identified optimal parking location as the vehicle's parking location in response to determining the previously identified optimal parking location fails to satisfy one of the identified objectives according to the updated map; and in response to determining the previously identified optimal parking location satisfies the identified objectives according to the updated map and in response to determining the newly identified optimal parking location is less than a predetermined distance away from the previously identified optimal parking location, discarding the newly identified optimal parking location and selecting the previously identified optimal parking location as the vehicle's parking location to reduce a number of restarts associated with changing the vehicle's parking location.