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According to the requirements of the intelligent parking system for parking accuracy and charging real-time, an automatic parking path planning method and parking charging method based on the fusion of distance and obstacle avoidance information is proposed to solve the practical problem that the current parking and charging cannot be effectively integrated, which is not conducive to intelligent control. The system adopts STM32 MSC as the main control chip, the motor drive module RZ7889D drives the DC motor, the steering rudder adopts MG996, the ultrasonic ranging sensor HC-SR04 is used to measure the physical distance between the car body and obstacles and combine LM393 to realize infrared obstacle avoidance and intelligent parking. The system uses LabVIEW to design the upper computer panel of the intelligent parking system, with real-time display of parking space, quantity, time length and cost, and has the function of historical data query and vehicle data waveform display. After simulation test and system micro-shrinkage physical model test, the system can realize parallel parking path planning, smooth and smooth good parking, the average parking time is 41s, can be charged according to the parking time, to meet the requirements of simple, reliable and accurate intelligent parking charging system design.