Can I park my car on the grass in my yard?

The parking of vehicles shall be prohibited in the front yard, side yard or rear yard (except on a driveway) unless the vehicle is parked on an asphalt, concrete or other approved hard surface slab, a minimum of 162 square feet. A Recreational vehicle,boat or trailer may be parked in the side or rear yard if it is not nearer than 2' from the lot line; or on a concrete driveway if space is not available in the rear yard or side yard; or there is no reasonable access to the rear yard.