In recent years, research on automatic driving has been actively carried out by nation. In this study, we will conduct esearch on automatic parking control which is one of automatic driving techniques. In the present Japanese housing environment, there is a very small parking lot difficult to park. Therefore, in this study, we consider driving performance improved by adding driving force control to steering control. The purpose is to examine the system which can carry out smooth parking even in various parking areas and to confirm the effectiveness in model vehicles.