the parallel parking problem is a motion planning problem in control theory and mechanics to determine the path a car must take in order to parallel park into a parking space. the front wheels of a car are permitted to turn, but the rear wheels must stay aligned. when a car is initially adjacent to a parking space, to move into the space it would need to move in a direction perpendicular to the allowed path of motion of the rear wheels. the admissible motions of the car in its configuration space are an example of a nonholonomic system.