How to path planning parallel parking using data from ultrasonic sensors?

HI, i need to make a simulation of an autonomous parking system for a car to park in a parallel space, I already made the map in code using driving scenario and the detection of the space using ultrasonic sensors.

Now i need to implement the vehicle path planning to perform the maneuver. I saw some examples and read some articles, but I don't know where to start, any help would be useful.

Thanks in advance.

[Sam Chak]

@Luan, Is this a parallel parking path planning problem, or a parking path tracking problem?

Have you identified the steps in parallel parking maneuver?