 The automatic parking system aims to enhance the comfort and safety of driving in constrained environments where much attention and experience is required to steer the car.The parking maneuver is achieved by means of coordinated control of the steering angle and speed which takes into account the actual situation in the environment to ensure collision-free motion within the available space.The car is an example of a nonholonomic system where the number of control commands available is less than the number of coordinates that represent its position and orientation.