This document describes techniques and systems for identifying and selecting a parking spot using radar-centric occupancy grid (RCOG) maps. An example system includes a processor that can identify available parking spots near a host vehicle using sensor data, including a radar occupancy grid (ROG) map. Parking-spot characteristics of each available parking spot are also determined using the sensor data. The processor can then determine a selected parking spot based on the parking-spot characteristics. The processor or another processor can then control operation of the host vehicle to park in the selected parking spot using an assisted-driving or autonomous-driving system and based on the parking-spot characteristics. In this way, the described system can identify, select, and navigate to a parking spot using a RCOG map without having to rely on infrastructure sensors or pass by open spots.