The automated parking system is an extensive branch of smart transport systems. The smartness of such systems is determined by different parameters such as parking maneuver planning. Coding this control system includes vehicle parking and understanding the environment. A high-quality classification mask has been used on each sample to analyze the automated vehicle parking parameters. Mask region-based convolutional neural networks (R-CNN) was taught using a small computational workload titled faster R-CNN that operates in five frames per second. In this paper, the rapidly-exploring random tree (RRT) method was used for routing the parking space and a nonlinear model predictive control (NMPC) controller was added to develop this system. We add the line detection algorithm commands to the mask R-CNN algorithm. The results can be useful to design a secure automatic parking system as well as a powerful perception system.