Patent ID: 8825262

Claim:
A method of deriving a parking trajectory for a vehicle, comprising: calculating, by a control unit, a first extension straight line, which includes a linear travel path of the vehicle when the vehicle initially goes in reverse at a neutral position of a steering angle, upon going in reverse to be parked; obtaining, by the control unit, a final parking location based on a calculated length of a parking space and a parking target location in the parking space, and calculating a second extension straight line which includes the final parking location; and in response to the vehicle reversing along the first extension straight line and turning towards the second extension straight line, calculating, by the control unit, an intermediate extension straight line connecting the first extension straight line and the second extension straight line to align the vehicle with the second extension straight line while preventing the vehicle from colliding with any obstacles, wherein an inclination of the intermediate extension straight line is calculated so by the control unit that the vehicle aligned with the intermediate extension straight line turns with a minimum radius of rotation and is then aligned with the second extension straight line.