A method for automatically parking a vehicle within an empty parking space, the method comprising: defining a first limiting motion circle having a radius greater than or equal to a minimum turning radius of the vehicle such that the first limiting motion circle passes through a centre point of a rear axle of the vehicle, and is tangential to a central axis of the vehicle; defining a second limiting motion circle having a radius (r) greater than or equal to the minimum turning radius of the vehicle such that the second limiting motion circle is tangential to a central axis of the empty parking space such that path of the vehicle on initiation of a turn maneuver would not intersect the second limiting motion circle; determining a parking trajectory for the vehicle, wherein a first portion of the parking trajectory is along a portion of the first limiting motion circle and a second portion of the parking trajectory is along a portion of the second limiting motion circle; while initiating the parking maneuver, controlling movement of the vehicle such that the central axis of the vehicle is tangential to the first portion of the parking trajectory; further controlling the movement of the vehicle along the second portion such that the central axis of the vehicle is tangential to the second portion of the parking trajectory; and positioning the vehicle in the empty parking space, wherein the central axis of the vehicle aligns with the central axis of the empty parking space; characterized in that the method further comprises obtaining an outer turning radius of the vehicle, wherein the outer turning radius is a distance between a centre point of the first limiting motion circle and an outermost protruding part of the vehicle; defining a third limiting motion circle with the outer turning radius for avoiding collision with objects positioned in vicinity of the vehicle; and while initiating the parking maneuver, determining a monitoring area within the third limiting motion circle with respect to changing position of the vehicle during entire parking maneuver, wherein the monitoring area is monitored during the parking maneuver for avoiding collision with moving objects, such as other vehicles. defining a first limiting motion circle having a radius greater than or equal to a minimum turning radius of the vehicle such that the first limiting motion circle passes through a centre point of a rear axle of the vehicle, and is tangential to a central axis of the vehicle; defining a second limiting motion circle having a radius (r) greater than or equal to the minimum turning radius of the vehicle such that the second limiting motion circle is tangential to a central axis of the empty parking space such that path of the vehicle on initiation of a turn maneuver would not intersect the second limiting motion circle; determining a parking trajectory for the vehicle, wherein a first portion of the parking trajectory is along a portion of the first limiting motion circle and a second portion of the parking trajectory is along a portion of the second limiting motion circle; while initiating the parking maneuver, controlling movement of the vehicle such that the central axis of the vehicle is tangential to the first portion of the parking trajectory; further controlling the movement of the vehicle along the second portion such that the central axis of the vehicle is tangential to the second portion of the parking trajectory; and positioning the vehicle in the empty parking space, wherein the central axis of the vehicle aligns with the central axis of the empty parking space; characterized in that the method further comprises obtaining an outer turning radius of the vehicle, wherein the outer turning radius is a distance between a centre point of the first limiting motion circle and an outermost protruding part of the vehicle; defining a third limiting motion circle with the outer turning radius for avoiding collision with objects positioned in vicinity of the vehicle; and while initiating the parking maneuver, determining a monitoring area within the third limiting motion circle with respect to changing position of the vehicle during entire parking maneuver, wherein the monitoring area is monitored during the parking maneuver for avoiding collision with moving objects, such as other vehicles.