In this paper, an algorithm was developed for a new self/automatic parking system based on a reverse parking with vehicle attitude as input and steering rate as output. The algorithm applied on a prototype electrical vehicle consists of ultrasonic-based sensors. Using this if–then based algorithm, vehicle follows the given instruction to perform the reverse parking after receiving the parking command from the user. After receiving the command, it detects green zones to verify either car is ready to reverse or not, and only if it is in reverse can it stop. In the paper, from the results it has been analyzed that the design prototype is successfully following the step-by-step instruction as given by the reverse parking algorithm to perform reverse parking.