In the last several years, the intelligent driving environment have become an attractive area of research in all over the world. For this reason, large efforts and contributions have been directed to enhance the driving safety and to reduce the driver’s workload having autonomous vehicles with a great potential. There are different aspects in which the research is focused, but the main objective is to realize systems with human-acceptable driving performance taking to account reliability and risks. The focusing point of this thesis work is to create an autonomous park assist by means a multivariable feedback control system based on control of two reference variable: lateral position and yaw angle of the vehicle generated by an appropriate external control.