In this paper,a control scheme based on model-free adaptive control is proposed for automatic parking. In this scheme,the vehicle environment information is collected by the on-board sensor to plan the desired path. Then, the tracking problem of automatic parking is transformed into the tracking problem of preview-deviation-yaw. The automatic parking is finally realized by designing the corresponding model-free adaptive control algorithm. The advantage of this scheme is only utilizes the input data of front wheel rotation angle and the output data of preview-deviation-yaw, without using any information of the controlled vehicle. Therefore,this scheme can be applied to different vehicles. The simulation results of Matlab and the comparison with PID control scheme verify the feasibility of the scheme.