System and method for backward parking a vehicle perpendicular to the roadway

A method for parking a vehicle in a parking lot includes generating steering commands to the vehicle while it is in the parking lot, based on a cast grid and plenoptic camera data. The cast grid indicates occupied areas and unoccupied areas around the vehicle and is selected from map data define the parking places in the parking lot contained relative to a topological feature derived. The plenoptic camera data defining a plurality of depth maps and images, which include the topological feature that has been added during the movement of the vehicle. The steering command is generated, so that the vehicle follows a reverse path perpendicular to the road in one of the sites, without entering into an occupied area.