Automated parking control device

An automated parking control device configured to execute traveling control for guiding a vehicle to an available parking area, the automated parking control device comprising:

• a surrounding environment recognition device configured to acquire surrounding environment information of the vehicle;
• a parking controller configured to search for the available parking area based on the surrounding environment information acquired by the surrounding environment recognition device, generate a target route for movement of the vehicle while the available parking area found by search is set as a destination, and execute traveling control for moving the vehicle along the generated target route;
• an image processor configured to estimate a distance to a recognized three-dimensional object and a slippage level of a road surface based on the surrounding environment information acquired by the surrounding environment recognition device;
• an image map generator configured to generate a road surface μ map indicating the slippage level of the road surface by image synthesis of information on the distance estimated by the image processor, information on the slippage level of the road surface estimated by the image processor, and the surrounding environment information;
• a wheel selector configured to predict passing routes of wheels of the vehicle based on the target route, superimpose the predicted routes of the wheels on the road surface μ map, and select, from among the wheels, one wheel expected to pass through a route where the wheel is most unlikely to slip;
• and
• a movement amount calculator configured to acquire a wheel speed pulse of the selected wheel and calculate a movement amount of a reference position of the vehicle.