This research presents the design and implementation of the intelligent autonomous parking controller (APC) and accomplishes it in a carlike mobile robot (CLMR). This car possesses the function to accept and estimate the environment by integration of infrared and ultrasonic sensors. We propose five parking modes including parallel-parking mode, a narrow path parallel-parking mode, garage-parking mode, a narrow path garage-parking mode, and none parking mode. And the CLMR can autonomously determine which mode to use and park itself into the parking lot. Finally, it is perceived that our intelligent APC is feasible from the practical experiments.