An automatic parking control device that causes a vehicle to travel from a parking start position to a target parking position on a parking route extending from the parking start position to the target parking position by traveling on a section route extending from the parking start position or a turning position provided on a way to an end of the parking route to a next turning position or the target parking position, the automatic parking control device comprising: a determination unit configured to determine, while the vehicle is traveling on a certain section route, whether the vehicle can reach a next frame which is either a turning position or the target parking position which the vehicle is scheduled to reach next when the vehicle travels on a remaining section from a current position on the section route, a turning position being a position where the vehicle switches its travel direction, and, when determining that the vehicle cannot reach the next frame even after travel to an end of the remaining section, determine whether the vehicle can reach the next frame on an extension of the remaining section by causing the vehicle to travel further from a travel end position of the remaining section with a steering angle and travel direction at the travel end position of the remaining section kept or determine whether the vehicle can reach the next frame on a way to the end of the remaining section; a calculation unit configured to calculate an adjustment distance from the current position on the section route or the travel end position to the next frame when the determination unit determines that the vehicle can reach the next frame; and an adjustment unit configured to generate, based on the adjustment distance calculated by the calculation unit, an adjustment route on which the vehicle is caused to travel to the next frame. a determination unit configured to determine, while the vehicle is traveling on a certain section route, whether the vehicle can reach a next frame which is either a turning position or the target parking position which the vehicle is scheduled to reach next when the vehicle travels on a remaining section from a current position on the section route, a turning position being a position where the vehicle switches its travel direction, and, when determining that the vehicle cannot reach the next frame even after travel to an end of the remaining section, determine whether the vehicle can reach the next frame on an extension of the remaining section by causing the vehicle to travel further from a travel end position of the remaining section with a steering angle and travel direction at the travel end position of the remaining section kept or determine whether the vehicle can reach the next frame on a way to the end of the remaining section; to determine, while the vehicle is traveling on a certain section route, whether the vehicle can reach a next frame which is either a turning position or the target parking position which the vehicle is scheduled to reach next when the vehicle travels on a remaining section from a current position on the section route, a turning position being a position where the vehicle switches its travel direction, and, when determining that the vehicle cannot reach the next frame even after travel to an end of the remaining section, determine whether the vehicle can reach the next frame on an extension of the remaining section by causing the vehicle to travel further from a travel end position of the remaining section with a steering angle and travel direction at the travel end position of the remaining section kept or determine whether the vehicle can reach the next frame on a way to the end of the remaining section; a calculation unit configured to calculate an adjustment distance from the current position on the section route or the travel end position to the next frame when the determination unit determines that the vehicle can reach the next frame; and an adjustment unit configured to generate, based on the adjustment distance calculated by the calculation unit, an adjustment route on which the vehicle is caused to travel to the next frame.