In the research of the existing automatic parking system, the actual vehicle tracking constraints and initial pose conditions were ignored, which affected the actual vehicle tracking reference path effect. A path planning algorithm based on the B-spline theory and a non-time reference terminal sliding mode tracking control method based on approach law were proposed. Firstly, the motion process of vehicle was studied and the vehicle kinematics model was set up. Secondly, based on the B-spline theory, a nonlinear constraint single step parallel parking path optimization function was established, and vehicle kinematics constraints was analyzed. Then, based on non-time reference path tracking control and terminal sliding mode control method, a non-time reference terminal sliding mode tracking control method based on approach law was proposed. The nontime reference method was applied to avoid the influence of vehicle speed control and reduce the speed control requirement. Combining with the terminal sliding mode control method based on the reaching law, the controller controlled the vehicle tracking to the reference path, reduced the tracking error, improved the approach quality and reduced the buffing phenomenon. Finally, the path planning simulation was conducted for the initial position of the tilted parking, in order to verify the rationality of the path planning method. The effect of the design controller was verified by tracking the sinusoidal reference path on Simulink. And based on the Simulink and CarSim software, the rationality of the planning path and the control effect of the path tracking controller were verified.