Methods and systems are provided for controlling parking of an autonomous vehicle. A method of parking an autonomous vehicle includes receiving sensor data indicative of an exterior environment of the autonomous vehicle. The received sensor data is processed to determine a parking space characterization. Additional sensor data is received that is indicative of an occupant location within the autonomous vehicle. A processor determines a parking position within a parking space based on the parking space characterization and the occupant location. The processor generates control signals to operate one or more actuator devices to maneuver the autonomous vehicle into the parking space at the parking position.