This paper proposes a control scheme based on model-free adaptive control 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 realized by designing the corresponding model-free adaptive control algorithm. The advantage of this scheme is that only the input data of front wheel rotation angle and the output data of preview-deviation-yaw are utilized, while not using any informations of the controlled vehicle. Therefore, this scheme can be applied to different vehicles. The simulation results of Matlab and the comparison with the PID control scheme and the fuzzy control scheme verify the feasibility of the proposed scheme.