AUTOMATED PARKING CONTROL DEVICE

An automated parking control device includes: a surrounding environment recognition device that acquires surrounding environment information of a vehicle; a parking controller that searches for an available parking area, generate a target route to the available parking area, and control the vehicle to move along the target route; an image processor that estimate a distance to a three-dimensional object and a slippage level of a road surface; an image map generator that generate a road a slippage level map; a wheel selector that predicts routes of vehicle's wheels, superimposes the routes on the map, and selects a wheel expected to pass through a route where the wheel is most unlikely to slip; and a movement amount calculator that acquires a wheel speed pulse of the selected wheel and calculates a movement amount of a reference position of the vehicle.