Patent ID: 8095273

Claim:
A method of controlling a parallel parking of a vehicle between a first object and a second object in response to an available parking distance therebetween, the vehicle having front steerable wheels and rear steerable wheels, the method comprising the steps of: remotely sensing a distance between the first object and the second object; comparing the distance to first predetermined distance and a second predetermined distance wherein the first predetermined distance is greater than the second predetermined distance; if the distance is greater than the first predetermined distance, then performing an autonomous one cycle parking strategy that pivots the front steerable wheels and the rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the front steerable wheels and rear steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position; and if the distance is between the first predetermined distance and the second predetermined distance, then performing an autonomous two cycle parking strategy, the autonomous two cycle parking strategy comprising: pivoting the front steerable wheels and the rear steerable wheels in respective directions for cooperatively steering the vehicle in a first reverse arcuate path of travel; pivoting the front steerable wheels and rear steerable wheels in a counter direction for cooperatively steering the vehicle in a second reverse arcuate path of travel; applying a transmission gear change for moving the vehicle in a forward direction; and pivoting the front steerable wheels and the rear steerable wheels in the first direction for moving the vehicle forward to a final park position.