Autonomous driving is considered one of the most ground-breaking technologies of the near future that will completely reshape transportation systems. In this regard, more and more research efforts are being spent by automotive companies and academic institutions for developing vehicles with an ever-higher level of autonomy. Thanks to well-known environments and relatively low risks, particular attention has been devoted to Autonomous Parking. The aim is to simplify as much as possible the actions required by the driver to complete the parking, reducing time (to perform all the maneuver) and spaces. Indeed, the increase in the number of vehicles entails the need for even narrower spots, thus rendering manual parking operations more challenging.