 Automatic pulling out involves localizing an available space for the car motion within the parking place, placing the car at an appropriate spot at the rear of the parking place, and performing a maneuver to pull out of the parking place into the traffic lane.The key concept behind automatic parking is to plan and parameterize the basic control profiles of steering angle and speed in order to achieve the desired shape of the vehicle's path within the available space.The parking maneuver is performed as a sequence of controlled motions using sensor data from the car servo systems and range measurements about the environment.