Math equation for auto parallel parking a car?

I recently bought a new car that has an auto parallel park function. All I have to do is press a button before a parking place and the car does all the rest. It measures the distance to see if it can do it and, if so, it takes control of the wheel and does all the rest. This made me realize that there must be a formula for it, taking into account axel distance, turn angle and so on. I was wondering if any of you knows or can infer this formula. Thanks|||There won't be "a formula", more like a computer program to work out how to get from where you are to where you want to be.





Probably the way it works is to think backwards. If you are already parked, you need to turn out of the gap and then turn the other way to straighten up on the road. If it's a tight parking space you may need to go forward and reverse a few times to get out.





So to park the car, what you need to do is first get to the right place on the road (which is easy, because there is nothing much to hit until you actually get into the parking space), and then do exactly the same as you would do to drive out, but backwards.