Parking spaces are optimized by orchestrating the movement of one or more autonomous vehicles or shared vehicles. A computing device monitors locations of multiple vehicles. The computing device receives a request for a parking space from a user at or in route to a geographic location. The computing device selects one of the monitors vehicles based on the geographic location of the parking request. The computing device generates an instruction to make available a parking space of the selected one of the vehicles. In the case of autonomous vehicles, the vehicle drives away from the parking space. In the case of shared vehicles, a rental appointment is modified to make the parking space available.