The automatic parking is one of the growing topics that claim to enhance the comfort and safety of driving. It can help drivers automatically drive the vehicle in constrained environments where much attention and experience is required. The parking strategy is completed by means of coordinated control of the steering angle and taking into account the actual situation in the environment to ensure collision-free motion within the available space. This paper presents a fuzzy logic controller designed for automatic parallel parking system. The proposed system receives information about the parking environment from ultrasonic distance sensor HC-SR04 and then generates the velocity and steering angle for parking. The servomotor are used for steering angle control of the model car. In order to ensure the performance of proposed system a prototype of four wheel robot, equipped with Arduino Uno R3 board has been developed. The control law is designed in Simulink and executed in real time using the dSPACE DS1104 DSP board.