A parking control method for a vehicle (V), the parking control method comprising: detecting (S102) available parking spaces from among parking spaces, wherein the available parking spaces are parking spaces which are empty and to which routes for completing the parking can be calculated; receiving a start instruction for a parking process from an operator (M) outside the vehicle (V); calculating (S106) a parking route from a parking start position to a target parking position (PL1) in the available parking spaces; executing (S107) the parking control to allow the vehicle (V) to start moving along the parking route toward the target parking position (PL1); and determining (S108) whether or not an obstacle is detected on or near the parking route after starting executing the parking control; when an obstacle is not detected (S108: N), continuing the parking control; and when an obstacle (OB) is detected (S108: Y), stopping (S109) the vehicle (V); and setting (S116) a target parking position of an available parking space that is already detected or a target parking position that is arbitrarily designated by the operator (M), as a next target parking position (PL2); characterized by generating a next parking route (R PL2 ) to the next target parking position (PL2); specifying a direction along the next parking route (R PL2 ) as the next parking direction which is a forward or backward direction; setting a rescue position (P R ) at a position from which the vehicle (V) can be parked at the next target parking position (PL2) in the next parking direction; generating a rescue route (R R ) from the stop position to the rescue position; and executing (S117) a rescue control to allow the vehicle (V) to start moving along the rescue route (R R ) toward the rescue position (P R ). detecting (S102) available parking spaces from among parking spaces, wherein the available parking spaces are parking spaces which are empty and to which routes for completing the parking can be calculated; receiving a start instruction for a parking process from an operator (M) outside the vehicle (V); calculating (S106) a parking route from a parking start position to a target parking position (PL1) in the available parking spaces; executing (S107) the parking control to allow the vehicle (V) to start moving along the parking route toward the target parking position (PL1); and determining (S108) whether or not an obstacle is detected on or near the parking route after starting executing the parking control; when an obstacle is not detected (S108: N), continuing the parking control; and when an obstacle (OB) is detected (S108: Y), stopping (S109) the vehicle (V); and setting (S116) a target parking position of an available parking space that is already detected or a target parking position that is arbitrarily designated by the operator (M), as a next target parking position (PL2); characterized by generating a next parking route (R PL2 ) to the next target parking position (PL2); specifying a direction along the next parking route (R PL2 ) as the next parking direction which is a forward or backward direction; setting a rescue position (P R ) at a position from which the vehicle (V) can be parked at the next target parking position (PL2) in the next parking direction; generating a rescue route (R R ) from the stop position to the rescue position; and executing (S117) a rescue control to allow the vehicle (V) to start moving along the rescue route (R R ) toward the rescue position (P R ). <EOS>