Abstract:The autonomous parking system is an intelligent technology to park a car into a small space. Based on Ackermann steering geometry, considering the parking practice, the minimum parking space and the bound of start point and collision-free space are obtained. Then based on Bezier curve, considering the dynamic constraint condition and the parametric equations, the dynamic relationship between x and y is established. For each time point t, followed by a specific steering angle and turning radius, a new location can be obtained. So a car can be controlled to move along a Bezier curve, and finally the continuous path is generated. At last, the simulation based on Matlab shows that the car can not only avoid the obstacles effectively, but also move smoothly on turning points. So the continuous auto-parking can be realized in a space as small as possible.