AUTOMATIC PARKING SYSTEM

In an automatic parking system, a vehicle state detection unit detects a traveling state of the vehicle. The traveling state including at least a position of the vehicle and a steering angle of the vehicle. A reference route storage unit stores a reference route that is comprised of multiple waypoints at each of which a corresponding traveling state of the vehicle detected during traveling of the vehicle by a driver's driving to a target point is associated. A parking route setting unit sets a parking route from an automatic parking start point to the target point using at least one waypoint included in the multiple waypoints as a temporary merge point to the reference route. The at least one waypoint is at least one neutral point at which a steering angle of the vehicle is neutral. A vehicle control unit controls the vehicle so as to cause the vehicle to travel along the parking route.