Abstract: Systems and methods for navigating a host vehicle relative to a parking space may include receiving sensed image data acquired by an image sensing system; determining, based at least in part on analysis of the sensed image data, a first indicator of a left boundary and a second indicator of a right boundary associated with a parking space; and determining a parking space approach maneuver initial position. The parking space approach maneuver initial position may be determined based on the determined first and second indicators of the left and right boundaries and also based on a determined indicator of an entrance to the parking space. One or more actuator systems associated with the host vehicle may be caused to active to cause the host vehicle to navigate into the parking space from the parking space approach maneuver initial position.