To solve the problem in which a vehicle turns in a place because the curvature of the planned path in the automatic parking system is not continuous, we adopt the reverse method to determine the control points according to the body structure and surrounding environment constraints. Then, we use a Bezier curve to design a reference path with continuous curvature and no collision. To improve the reliability of automatic parking, according to the principle of discrete linear-quadratic programming, we design a tracking controller combining feedforward and feedback control. The simulation results in the Simulink and CARSIM verify the feasibility of the proposed method. The results show that the method can effectively track the reference path within an acceptable range of the error when the parking space size is appropriate.