A vehicle parking assist system includes at least one processor configured to establish communication with a parking automation system external to a vehicle to assist in a parking maneuver. The parking automation system includes at least one sensor to provide a measured distance value from an object to the vehicle. The processor is further configured to control a brake system of the vehicle based on the measured distance value via the sensor. The processor is further configured to control the vehicle to come to a stop based on the measured distance value being less than a first predefined threshold via the brake system.