Vehicle, control method for vehicle, and storage medium

A control method for a vehicle including an information acquirer configured to acquire state information and surrounding information of the vehicle, a storage configured to store a route from a parking start position to a parking position on which the vehicle has traveled in the past and information necessary for autonomous traveling of the vehicle along the route in association with map information used for route guidance of the vehicle, a controller configured to control an operation of the vehicle perform, in a memory parking mode, autonomous parking of the vehicle based on the route and the information stored in the storage and the map information, and a display configured to display the parking position stored in the storage and receive an input of a confirmation operation of a target parking position selected from the parking position, in the memory parking mode, the control method comprising:

• in a case where a current position of the vehicle is a parking lot and the parking lot is a parking lot in which the vehicle is required to be stopped at an entrance;
• detecting, by the controller, whether the vehicle stops at the entrance based on the state information, and activating the memory parking mode when detecting that the vehicle stops at the entrance;
• determining, by the controller, whether entry to the parking lot is possible based on the surrounding information;
• and
• starting, by the controller, the autonomous parking in the memory parking mode, at a later timing of a timing at which the entry to the parking space is possible and a timing at which a confirmation operation of the target parking position is input to the display.