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With the load of urban traffic system becomes more serious, the Automatic Parking System (APS) plays an important role in alleviating the burden of drivers and improving vehicle safety. The APS is consisted of environmental perception, path planning and path following. The path following controls the lateral movement of vehicle during the parking process, and requires the trajectory tracking error to be as small as possible. At present, some control algorithms are used including PID control, pure pursuit control, etc. However, these algorithms relying heavily on parameters and environment, have some problems such as slow response and low precision. To solve this problem, a path following control method based on Model Predictive Control (MPC) algorithm is proposed in this paper. Firstly, Kinematic vehicle model and path tracker based on MPC algorithm are built. Secondly, a test bench that composed of CANoe hardware in the loop (HIL) system and steering wheel system is built.