Still Sleeping on The Floor

We just cannot get Jayden to sleep in his bed, we put him on his bed and by the time we get to his door he is laying on the floor, so after he falls asleep we pick him up and try again he wakes and and wont lay down and then gets upset and goes back to his corner. I am running out of ideas, i am concerned he will get a sore back always being on the floor. He wont even sleep on his mini fold out couch, or with a pillow.
Everything else is going so well at the moment we just cant get this right. Hes eating a hell of a lot better and he is making heaps of eye contact and he is also babbling alot every now and again a word comes out but its only said once. So his progress(apart from the bed issue) is going well i am so proud of him. I love the way he ALWAYS wants a cuddle, most Autistic kids hate being touched we were lucky. I mean it took some work he hated being cuddled unless he hurt himself so i persisted and just kept picking him up until he liked being held. It took some time but i wasnt giving up, i dont think i could handle having a child who refused to cuddle me.
Now he clings to me like glue i may of over done it, Nah i enjoy him always wanting to be near me, one day it may change ya never know.
At the moment he loves to line things up whatever he can get his hands on he will line up, pencils, sticks, balls, creditcards, my drivers liscence anything. He likes to read by himself and he likes to play with the curtains.
He is awake at the moment i tried to put him in bed now he is crying, i feel bad for him i dont like upsetting him but i dont know what else to do. I cant force him to get in bed he dosent understand which is why this is so hard. Everyone who dosnt have an Autistic child tells me how to do it but they just dont get how difficult it is, I cant just say STAY, i wish it was that easy.
So thats whats happining in Jaydens world today.