the direction of the vehicle z 2 in this case the temporary object information of the vehicle z 3 is not used for the determination of the target parking direction in the case of parallel parking fig8 b the target parking position determining part 44 may determine a target parking direction which is aligned with the direction of a straight line which is formed by connecting together the endpoints of the vehicles z 2 and z 3 based on the object information of the vehicles z 2 and z 3 related to the endpoints of the vehicles z 2 and z 3 on the side of the parking space therefore according to the present embodiment the target parking position and the target parking direction is determined using the temporary object information of the vehicle z 3 from the stage where the part of the vehicle z 3 namely the part of the vehicle z 3 larger than the first reference length l is detected when compared with the composition in which the target parking position is determined as soon as the whole vehicle z 3 is detected or the stage where the computation of a curve approximation is possible is reached the start timing of parking support can be brought forward according to the present embodiment even when it is the case where the parking support control is not performed according to the present embodiment a target parking position can be determined if the self vehicle arrives at the parking start position by the running path in which only the part of the.