Along with the increasing number of vehicles,parking space becomes narrow gradually,safety parking puts forward higher requirements on the driver\'s driving technology.How to safely,quickly and accurately park the vehiclo to parking space right? This paper presents an automatic parking scheme based on trajectory planning,which analyzing the mechanical model of the vehicle,establishing vehicle steering model and parking model,coming to the conclusion that it is the turning radius is independent of the vehicle speed at low speed.The Matlab simulation environment verifies the correctness and effectiveness of the proposed algorithm for parking.A class of the automatic parking problem of intelligent vehicles is solved.