To overcome the deficiency of ultrasonic sensor and camera, this paper proposed a method of autonomous parking based on the selfdriving car, using HDL-32E LiDAR. First the 3-D point cloud data was preprocessed. Then we calculated the minimum size of parkingspace according to the dynamic theories of vehicle. Second the rapidly-exploring random tree algorithm (RRT) algorithm was improvedin two aspects based on the moving characteristic of autonomous car. And we calculated the parking path on the basis of the vehicle’sdynamics and collision constraints. Besides, we used the fuzzy logic controller to control the brake and accelerator in order to realizethe stably of speed. At last the experiments were conducted in an autonomous car, and the results show that the proposed automaticparking system is feasible and effective.