43 results about "Parallel parking" patented technology

Steering control system (100) for providing steering assistance to an operator of a vehicle (10) when exiting a parallel parking space, comprising: a processor (102); and a memory (106) containing instructions which, when executed by the processor (102), cause the processor (102) to: to determine a first steering direction of the vehicle (10) based on a clue representing a direction of view of the operator of the vehicle (10) (302), wherein the direction of view of the operator represents a direction in which the operator intends to move the vehicle (10) in order to drive out of the parallel parking space; to determine a selected gear of the vehicle (10) (304); in response to the fact that the selected gear is ‘Driving’, to generate an initial steering control value based on the initial steering direction and the selected gear (306); to selectively control (308) the steering of the vehicle (10) based on the first steering control value, wherein the first steering control value causes the wheels of the vehicle (10) to turn into a first fully turned position in the first steering direction; in response to the fact that the selected gear is "Reverse", generate a second steering control value (404); and to selectively control the steering of the vehicle (10) based on the second steering control value (406), wherein the second steering control value causes the wheels of the vehicle (10) to turn into a second fully turned position in a second steering direction opposite to the first steering direction, so that the operator of the vehicle (10), who shifts the selected gear from "Drive" to "Reverse", causes the steering of the vehicle (10) to change from the first fully turned position to the second fully turned position, and the operator of the vehicle (10), who shifts the selected gear from "Reverse" to "Drive", causes the steering of the vehicle (10) to change from the second fully turned position to the first fully turned position.

An automatic parking control method and apparatus, and a device, a storage medium and a vehicle. The method comprises: S110, when a target vehicle is in a parallel parking scenario, on the basis of the position of a target parking space relative to the target vehicle, determining a target position in the target parking space, which target position corresponds to a first wheel of the target vehicle; S120, on the basis of the target position and an initial position of the first wheel, controlling the target vehicle to travel along a planned trajectory; and S130, if the first wheel travels to the target position, on the basis of a heading angle of the target vehicle relative to the target parking space, controlling the target vehicle to rotate by taking the first wheel as a circle center, so as to complete parking. In the method, by means of the steering adjustment of front and rear wheels, a smaller turning radius is realized, so as to realize the solution of first controlling a wheel to reach a target position and then controlling the other wheels to rotate around the wheel which serves as a fixed-point circle center, so as to enter a parking space, thereby improving the automatic parking effect.

The application belongs to the technical field of automatic parking, and particularly relates to a visual parking space detection method. A marking point detection network structure adopted by the application comprises two parallel branches. In the first branch, in addition to the prediction of the position offset and confidence of the marking point, the angle prediction of the parking space edge line corresponding to the marking point is added. In the second branch, a parking space type classification branch is added, and the parking space is classified into three types, i.e. a vertical parking space, a parallel parking space and an inclined parking space. The post-processing derives more accurate parking space positions and orientations according to the model prediction of the paired marking points, the type of the parking space corresponding to each marking point in the paired marking points and the angle of the corresponding edge line. The application adds more constraints to the output results, so that the noise in the detection results can be significantly reduced, and the output parking space is more accurate and reasonable.

Parking control system (1) with: a parking mode selection unit (10) which supports a first-stage selection and a second-stage selection, wherein a mode is a right perpendicular parking mode, a left perpendicular parking mode, a right parallel parking mode and a left parallel parking mode is selectable in the first stage selection, and a forward parking mode or a reverse parking mode is selectable in the second stage selection in cases where the right or left perpendicular parking mode has been selected in the first stage selection; a sensor unit (15) comprising a plurality of sensors attached to one or more of the front, rear and sides of a vehicle; a parking space search unit (20) that searches for a parking space based on a value detected by the sensor unit (15); a path definition unit (25) that defines a parking path along which the vehicle is parked in the parking space detected by the parking space search unit (20), according to the parking mode selected by the parking mode selection unit (10); and a parking controller (30) that controls the vehicle to move along the parking path defined by the path definition unit (25); wherein the parking space search unit (20) searches for the parking space when the speed of the vehicle is reduced to a predetermined speed or less.

Methods for assisting the driver of a motor vehicle during a parking maneuver in parallel parking spaces, comprising the following steps: a) sensory measurement of a found parking space, b) Decision based on the survey data determined in step a) and on the vehicle data as to whether the parking space is suitable for the vehicle to park, c) Calculation of a parking lane using a lane planning algorithm, d) Start of a parking maneuver taking into account the parking target path, e) Checking the vehicle's yaw angle when the parking train stops, f) Termination of the parking maneuver if the yaw angle is less than a predetermined limit, g) Starting another parking maneuver in a predetermined direction of travel (forward or backward) with maximum steering angle to the right or left if the yaw angle is greater than the predetermined limit, h) rechecking the yaw angle when the next parking maneuver stops, i) Termination of the parking maneuver when the yaw angle is less than the specified limit, j) Starting another parking maneuver if the yaw angle is greater than the specified limit, wherein the direction of travel (forward or backward) and the direction (right or left) of the maximum steering angle in this parking maneuver are opposite to the parking maneuver in step g), k) rechecking the yaw angle when the next parking maneuver stops, I) Termination of the parking maneuver when the yaw angle is less than the specified limit, m) Repeat the steps from g) if the yaw angle is greater than the specified limit, characterized by the further step: n) that when a parking train stops, a signal is generated, whereupon the yaw angle check and the further steps are initiated.

The invention relates to an all-wheel steering vehicle parallel parking path planning method for a narrow parking space. According to vehicle parameters and the parallel parking space size and road information detected by a sensor, a parallel parking scene of the all-wheel steering vehicle is established, initial parking point information of vehicle positioning is input, a designed algorithm is executed, and an existing safe parking path is detected in real time. Distance information is sampled in real time to generate a series of parking paths, the paths are dispersed, road constraints and vehicle dynamics constraints needing to be met in the parking process are defined, a path evaluation function is designed, the paths meeting the constraints are evaluated, and the paths are optimized. According to the method, the optimal design of the parallel parking path of the multi-section type multi-steering mode vehicle is completed, the more flexible parking path design of the all-wheel steering vehicle is achieved, the parking space occupied in the parking process is reduced, and the parking efficiency is improved.

The invention provides a parking path planning method and system. The parking path planning method comprises the following steps: acquiring vehicle parameter information of a target vehicle, and determining a parking final position; establishing a vehicle kinematics equation set based on the vehicle parameter information, and obtaining a first parking path according to the parking end point position based on the vehicle kinematics equation set by adopting a fourth-order Runge-Kutta method; and adopting an A * algorithm to obtain a second parking path based on the current position of the target vehicle and the parking space parking starting point, so as to merge the first parking path and the second parking path, and obtain a final parking path. According to the invention, the path search process of a hybrid A * algorithm in a non-convex environment with long time consumption is avoided, the kinematic characteristics of the vehicle are fully considered, and rapid path planning for parallel parking spaces is realized.

The invention provides a parallel parking path planning method and device in a complex parking scene, equipment and a storage medium, and relates to the technical field of automatic parking. The method comprises the steps of defining three complex parking scenes of narrow parking spaces, limited channels and existence of obstacles, and establishing a collision detection model of a simplified vehicle based on a vector fork multiplication method to ensure that no collision exists in the parking process; a sampling space is divided step by step, an intelligent probability map guidance algorithm is constructed based on repulsive force bias, a prior path and random sampling to guide a sampling strategy, path expansion meeting vehicle kinematics constraints is realized by adopting a cost-improved Reeds-Shepp curve, the dynamic step length is self-adapted, the expansion efficiency is improved, and the method has the advantages of being simple in structure and convenient to operate. And smooth optimization of the path is realized through pruning and a cubic B-spline curve. According to the method, by obtaining parking environment information, a safe, collision-free and easy-to-track-control path is quickly planned, so that autonomous parking of the vehicle is realized.

A load and unload support device includes an information processing unit for communicating with a user terminal of a first vehicle and a control terminal of a second vehicle. When the second vehicle is parked between an entrance / exit of a parallel parking lot connected to a road and the first vehicle, the information processing unit transmits a temporary unload instruction for the second vehicle that is received from the user terminal to the control terminal. When receiving the load instruction for the second vehicle from the user terminal subsequent to a receipt of the temporary unload instruction, the information processing unit transmits the load instruction for the second vehicle to the control terminal. When a predetermined time elapses after the receipt of the temporary unload instruction without receiving the load instruction for the second vehicle, information processing unit transmits an alert notification to the user terminal.

The present application relates to a method, apparatus, vehicle, and storage medium for parking a vehicle in a parallel parking space. The method comprises: constructing information about a target parallel parking space and the surrounding drivable space based on the target parallel parking space; identifying the vehicle's current parking scenario based on the information about the target parallel parking space and the surrounding drivable space, and determining a parking starting point corresponding to the current parking scenario; and, after controlling the vehicle to drive to the parking starting point, executing the parallel parking action according to a parking planning path generated based on the information about the target parallel parking space and the surrounding drivable space. The present application can address different scenarios involving target parallel parking spaces by first determining the corresponding parking starting point and then performing subsequent route planning, thereby reducing computational effort, reducing the number of parking changes, and improving parking efficiency and success rate.

This invention belongs to the technical field of vehicles, and particularly relates to a lateral movement device and a vehicle. By incorporating shock absorbers and hydraulic cylinders, the device can simultaneously raise the vehicle and move the wheels in the width direction of the vehicle. Lateral movement is achieved through the lateral movement of each wheel. Thus, when parallel parking, simply park the vehicle parallel to the parking space and then use the lateral movement device to complete the parallel parking maneuver, significantly reducing the difficulty of parallel parking. Compared to traditional vehicles, vehicles equipped with the lateral movement device can directly achieve lateral movement without repeatedly reversing or adjusting direction, making operation simple and convenient. Furthermore, the lateral movement device provided by this invention uses a lateral movement mechanism that achieves both vehicle height raising and lateral movement, with both functions sharing a hydraulic supply device, simplifying the structure.

The invention belongs to the technical field of intelligent vehicle automatic parking, and relates to a two-stage optimal parallel parking trajectory planning method based on key frame division. The objective of the invention is to solve the problems of limited parking space, high collision risk, slow optimization convergence and low terminal attitude precision in narrow parking spaces in cities. According to the technical scheme, the method is characterized in that a parking scene model and kinematics constraints are constructed, and according to key frames, the method is divided into a C-shaped garage entering stage (two sections of right-turn arcs, and tail garage entering is ensured) and an S-shaped garage rolling stage (a tubular space S-shaped structure, and reversible displacement attitude adjustment); building a multi-objective optimization model by stages, dispersing by a fourth-order Runge-Kutta method, and converting to nonlinear programming for solving; a local hot start strategy is introduced to improve the convergence speed. The method is mainly used for automatic parking of urban compact parking spaces, and safety, precision and real-time performance are improved.

The invention discloses a multifunctional double-layer car hall which comprises a steel structure frame, a parking strip, a wheel limiting assembly, an automatic pushing assembly, a parking space lifting assembly and a lifting power assembly. The two parallel parking strips are arranged on the inner side of the steel structure frame, each parking strip comprises a ground parking space frame used for supporting wheels, and each ground parking space frame comprises a plurality of fixed transverse rods which are arranged at intervals and extend in the left-right direction of an automobile; the wheel limiting assembly is used for limiting wheels; the two sets of automatic alignment assemblies are arranged on the outer side of the parking strip, each set of automatic alignment assembly comprises a push rod and an alignment motor, and the push rods and the parking strip are arranged in parallel. The lifting parking space assembly comprises a lifting parking space frame capable of conducting lifting motion, the lifting parking space frame comprises a plurality of lifting transverse rods arranged at intervals, and the lifting transverse rods and the fixed transverse rods are arranged in a staggered mode. The lifting power assembly is arranged on the steel structure frame and used for providing power for lifting motion of the lifting parking space frame. Parking efficiency can be improved, and user parking and picking-up experience can be improved.

The utility model discloses a sliver automatic stop device for a sliver lap machine, which relates to the technical field of the sliver lap machine and comprises a photoelectric sensor and a rolling shaft which are arranged on a sliver guide frame of the sliver lap machine, the rolling shaft is placed and installed on symmetrically arranged half-open type bearing seats, a U-shaped frame is arranged on the lower side of the sliver guide frame of the sliver lap machine, and the bottom of the U-shaped frame is connected with a switch touch panel through a spring. A touch switch is arranged on the base, when a gushing strip exists on the table top, the cotton strip is diffused to the photoelectric sensor in a diffuse mode, the photoelectric sensor sends a signal to disconnect a circuit, and therefore automatic stopping and normal rotation of the rolling shaft on a wire rod are achieved, and when the gushing strip exists on the table top, the gushing strip disturbs and lifts the rolling shaft, the other end of the rolling shaft control switch touch plate makes contact with the touch switch. By means of the two-stage parallel parking arrangement of the photoelectric sensor and the rolling shaft, the failure risk of the automatic parking device is reduced, cotton sliver waste can be effectively avoided, equipment damage is reduced, potential safety hazards are reduced, and production efficiency is improved.

The invention relates to a method for operating a parking function (28) for a vehicle (1), wherein the vehicle (1) drives past several parking spaces (3). The method includes, for each parking space (3): determining (S1) a space orientation information (21) that describes whether the parking space (3) is intended for parallel or perpendicular parking by applying a space orientation determination algorithm (22); storing (S2) the determined space orientation information (21) in a storage unit (20) of the vehicle (1); and providing (S3) the stored space orientation information (21) to the parking function (28). If no unique space orientation information (21) is determined for at least one of the parking spaces (3), the last stored space orientation information (21) is considered the determined space orientation information (21) for that at least one parking space (3) and is provided to the parking function (28).

A method for externally moving a vehicle includes receiving sensor data from a sensor of the vehicle. The sensor data is indicative that a person outside of the vehicle touched a predetermined area of the windshield of the vehicle. The vehicle is initially parked. The method further includes displaying a user interface on the predetermined area of the windshield in response to determining that the person outside of the vehicle touched the predetermined area of the windshield of the vehicle. Moreover, the method includes receiving an input from the person outside of the windshield through the user interface. The input is indicative of a command to move the vehicle. The method includes commanding the vehicle to move by a predetermined distance in response to receiving the input from the person outside of the vehicle.

The invention discloses an unmanned parallel parking control method based on driver experience. The unmanned parallel parking control method comprises the following steps: step 1, establishing a non-time vehicle kinematics model; 2, according to driver experience, a parallel parking double-trapezoid operation model is established; 3, restraining the parallel parking double-trapezoid operation model by using the non-time vehicle kinematics model to obtain a steering wheel operation sequence; 4, establishing a parking quantitative evaluation system, and calculating a steering wheel operation sequence parking quality total score H; step 5, constructing a parallel parking double-trapezoid operation model based on the current key parameter matrix Kold and the new key parameter matrix Knew, calculating Hoold and Hnew, and calculating a difference value delta H between Hoold and Hnew, and if delta Hgt, executing the step 5; if yes, Knew is accepted; if delta H is less than or equal to 0, calculating the acceptance probability P of Knew, and generating random numbers gamma and gamma lt; and if gamma is greater than or equal to P, Knew is accepted, and if gamma is greater than or equal to P, Kold is retained, N times of iterative annealing is carried out or a system reaches heat balance to obtain an optimal key parameter Kf, and a parallel parking double-trapezoid operation model for actual parking control is established based on the Kf.

The application relates to the technical field of automobile intelligentization, and provides a parallel parking path planning method, which comprises steps S1-S6, that is, through a vehicle sensor, data such as to-be-parked parking space data is perceived, a polynomial function relationship is established according to a vehicle parallel parking path, polynomial coefficient values are obtained according to a first constraint condition, a second constraint condition, a third constraint condition and a fourth constraint condition, and a polynomial function path planning curve is obtained; a hyperbolic tangent tanh function is used to obtain a hyperbolic tangent path planning curve; the polynomial function path planning curve and the hyperbolic tangent path planning curve are fused to obtain a parallel parking path planning curve; and the vehicle is tracked and controlled according to the parallel parking path planning curve to complete vehicle parking operation. The method can solve the problems of discontinuous parking path curvature, poor tracking, complex path structure composition, too many nodes and large fitting path error, guarantees smooth parking path, improves parking efficiency and improves parking effect.

The invention discloses a parking method and device and a vehicle, and the method comprises the steps: responding to a parking enabling signal, and controlling a guide wheel to stretch out through a control device, so as to enable an auxiliary wheel of the vehicle to leave the ground; and the torque difference between the left wheel and the right wheel in the parking wheels is adjusted through the left driving motor and the right driving motor corresponding to the parking wheels, so that the vehicle is rotated to the parking space. Automatic rotary parking of the vehicle is achieved through the torque difference between the left wheel and the right wheel, and the accuracy and the parking efficiency of lateral parking are improved.

1. Name of the product of this design: Graphical user interface for vehicle remote control of electronic device. 2. Purpose of this design product: for use in an electronic device. 3. The key design point of this design product lies in the graphical user interface. 4. The picture or photo that best illustrates the key points of the design: Main view of Design 1. 5. Designate Design 1 as the base design. 6.Purpose of the graphical user interface: Used for remote control of the vehicle's reverse parking, parallel parking, or forward and backward movement via mobile phone. 7. Human-computer interaction mode of graphical user interface: Design 1 main view is the view where the vehicle detects a parking space. Click "Long press to start" to enter the design 1 interface change state diagram 1; in the design 1 interface change state diagram 1, the vehicle continues to move towards the parking space to enter the design 1 interface change state diagram 2; in the design 2 main view, click any one of the left arrow and right arrow in the upper part of the screen to select the parking direction, click "Changan Start" to enter the design 2 interface change state diagram 1; in the design 2 interface change state diagram 1, the vehicle continues to move towards the parking space to enter the design 2 interface Interface change state diagram 2; in the main view of Design 3, click the upper arrow button on the top of the screen to enter the interface change state diagram of Design 3; in the main view of Design 4, click "Long press to start" to enter the interface change state diagram of Design 4 1; in the interface change state diagram of Design 4 1, the vehicle continues to move toward the parking space to enter the interface change state diagram of Design 4 2; in the main view of Design 5, click the arrow button on the left side of the screen, and then click "Changan Start" to enter the interface change state diagram of Design 5 1; in the interface change state diagram of Design 5 1, the vehicle continues to move out of the parking space to enter the interface change state diagram of Design 5 2.

A method for externally moving a vehicle includes receiving sensor data from a sensor of the vehicle. The sensor data is indicative that a person outside of the vehicle touched a predetermined area of the windshield of the vehicle. The vehicle is initially parked. The method further includes displaying a user interface on the predetermined area of the windshield in response to determining that the person outside of the vehicle touched the predetermined area of the windshield of the vehicle. Moreover, the method includes receiving an input from the person outside of the windshield through the user interface. The input is indicative of a command to move the vehicle. The method includes commanding the vehicle to move by a predetermined distance in response to receiving the input from the person outside of the vehicle.

A control device for controlling a display device is mounted on a moving body that moves to a target position specified by a user by automatic steering. The moving body is configured to be capable of perpendicular parking into the target position and parallel parking into the target position. When the perpendicular parking or the parallel parking is performed, the control device causes the display device to display a top view image of the moving body and surroundings, and to display a frame image indicating a place set as the target position superimposed on the top view image. The control device is capable of enlarging and displaying the top view image according to an instruction from the user. The control device makes a display range when the top view image is enlarged and displayed different between when the perpendicular parking is performed and when the parallel parking is performed.

Disclosed herein are system, method, and computer program product embodiments for identification of intention and prediction for parallel parking vehicles. For example, the method includes: obtaining sensor data associated with an environment surrounding an autonomous vehicle; identifying, based on the sensor data, a plurality of static objects in the environment, an open parallel parking location between the plurality of static objects, and a vehicle in the environment that satisfies a parallel parking condition; generating a polygon that extends beyond a side and a rear of the vehicle that satisfies the parallel parking condition; and controlling movement of the autonomous vehicle based on a prediction that the vehicle is intending to parallel park in the open parking location, the prediction that the vehicle is intending to parallel park in the open parking location being determined based on an amount of the open parallel parking location that is contained within the polygon.

This invention relates to a multi-segment parallel parking path planning method for heavy-duty all-wheel steering vehicles. Based on vehicle parameters and parallel parking space dimensions and road information detected by sensors, a parallel parking scenario for the all-wheel steering vehicle is established. The starting parking point information for vehicle positioning is input, and a designed algorithm is executed to detect existing safe parking paths in real time. Specifically, a series of parking paths are generated using a parameter sampling method and discretized. Road constraints and vehicle dynamics constraints that need to be satisfied during parking are defined. A path evaluation function is designed to evaluate and optimize paths that meet the constraints, thus completing the optimized design of parallel parking paths for multi-segment, multi-steering mode vehicles. This achieves more flexible parking path design for heavy-duty all-wheel steering vehicles, reduces parking space occupied during parking, and improves parking efficiency.

Aspects of the disclosure relate controlling autonomous vehicles or vehicles having an autonomous driving mode. More particularly, these vehicles may identify and respond to other vehicles engaged in a parallel parking maneuver by receiving sensor data corresponding to objects in an autonomous vehicle's environment and including location information for the objects over time. An object corresponding to another vehicle in a lane in front of the first vehicle may be identified from the sensor data. A pattern of actions of the other vehicle identified form the sensor data is used to determine that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the other vehicle identified from the sensor data. The determination is then used to control the autonomous vehicle.

A method for providing parallel parking assistance includes generating an augmented video stream including an overhead view video stream, a graphical representation of a host vehicle, and a first arrow indicating an initial positioning of the host vehicle, generating, by a processor, a first control signal indicating a first steering angle in response to receiving a first confirmation signal from a user interface indicating confirmation of the initial positioning of the host vehicle, generating, by the processor, a second control signal indicating a second steering angle in response to a change in yaw reaching a first desired yaw, generating, by the processor, a second arrow indicating a distance between the host vehicle and a curb to be overlaid on the overhead view video stream, and generating, by the processor, a third control signal indicating a third steering angle in response to receiving a second confirmation signal from the user interface indicating confirmation of the distance between the host vehicle and the curb.

The present application provides an automatic parking path planning method, device, electronic device, and storage medium, belonging to the field of vehicle path planning technology. The method includes: when the vehicle travels to the preset starting area of ​​the target parking space, the projection point of the designated part of the vehicle in the preset starting area is determined as the starting point of parking, wherein the target parking space is a parallel parking space; based on the preset size parameters, preset constraints, and polynomial fitting algorithm of the vehicle, the parking trajectory of the vehicle from the starting point to the end point in the target parking space is determined, wherein the parking trajectory includes a continuous first segment, a second segment, and a third segment, wherein the third segment is the path of the designated part after traveling a preset angle with the minimum turning radius of the vehicle. In this way, the geometric method and the polynomial fitting algorithm can be used to realize the trajectory planning of automatic parking, simplify the calculation process of automatic parking, and facilitate the realization of automatic parking of the vehicle.

The method relates to a method to operate a parking function (28) for a vehicle (1), wherein the vehicle (1) is driving past multiple parking slots (3). The method comprises for each parking slot (3): determining (S1) a slot orientation information (21) describing if the parking slot (3) is intended for parallel or transverse parking by applying a slot orientation determining algorithm (22); storing (S2) the determined slot orientation information (21) in a storage unit (20) of the vehicle (1); and providing (S3) the stored slot orientation information (21) to the parking function (28). If no distinct slot orientation information (21) is determined for at least one of the parking slots (3), the last stored slot orientation information (21) is considered as the determined slot orientation information (21) for this at least one parking slot (3) and provided to the parking function (28).

This invention discloses a method, apparatus, and computer device for planning parking exit paths in parallel parking spaces. The method includes: determining a first turning center on the side of the target lane closest to the starting position of the vehicle's parking exit, based on the vehicle's minimum turning radius and the vehicle's starting position in the parallel parking space; determining the intersection point of the vehicle's front corner position with the first turning center on the long side line of the parallel parking space; obtaining the drivable area for the vehicle to exit from the parallel parking space to the target lane; if the intersection point is not within the drivable area, determining the reversing target position of the vehicle in the parallel parking space; and using the reversing target position as the starting position of the vehicle's parking exit in the parallel parking space, returning to the step of determining the first turning center. This improves the reliability of parking exit path planning in parallel parking spaces through dynamic adjustment strategies.

A vehicular automated parking system includes a plurality of cameras disposed at a vehicle and viewing exterior of the vehicle. When the vehicle is parked in a parking space and a rearward parked vehicle is parked behind the vehicle, the vehicular automated parking system determines a rearward limit of the parking space, which establishes a boundary for stopping the vehicle. The parking space is a parallel parking space that is oriented along a road at which the parking space is located. Based at least in part on processing of image data captured by at least one camera of the plurality of cameras, the vehicular automated parking system controls the vehicle to leave the parking space in a manner that avoids the rearward parked vehicle and / or that avoids contacting a curb along one side of the parking space.