Aiming at the automatic parking system to discontinuous problems, the Sigmoid function is adopted to fit the two section parking path. The transverse preview model is established and the path tracking error is estimated. Then the preview fuzzy control algorithm is adopted to track the ideal path. Finally, PreScan virtual simulation environment is established and the information of parking spaces is obtained by ultrasonic sensors. Research results show that the coefficient of determination can reach over 0.99 between the Sigmoid function and the two-section parking path. Based on the preview fuzzy control, the car can track the planning path successfully and park into parking spaces.