The number of electric power steering(EPS) applications continues to grow rapidly. EPS systems utilize electric motors to provide steering assistance when cornering. Because of the controllability of the EPS motor, it provides more and more possibility to help the driver in driving process actively. An automatic parking system(APS), one of the Advanced Driver Assist System(ADAS), is a typical application by controlling the EPS motor to assist drivers in parking vehicle automatically. In this paper, two approaches are proposed for active steering angle control based on EPS systems and the system dynamics was analysed to improve the angle control performance in APS. Furthermore, the active angle control algorithm was realized with an embedded-DSP and validated in a prototype vehicle.