In order to allow the robot to dynamically identify obstacles and stop and avoid obstacles dynamically in real time at different speeds,an algorithm model of dynamic ranging and accurate stop and avoidance of obstacles was proposed,and STM32 single-chip microcomputer was used to realize motion control.The self-designed robot car was tested indoors.The results show that using the dynamic distance measurement stop and obstacle avoidance algorithm model，accurate parking within the expected parking position canbe achieved when encountering obstacles at different vehicle speeds ranging from 0.35 to 6.5 km/h.The multiple tests and analysis results show that the maximum parking distance from the obstacle is the expected parking position plus 2 cm.