PURPOSE: To enable a car to be parked in various parking partitions by photographing a bar coded sign with a CCD sensor, calculating a distance and a direction, while decoding a parking partition form, and controlling the steerage of the car according to the partition form.

CONSTITUTION: Any obstacle at the side of a car 10 is detected by a scan riding ultrasonic wave sensor 12 installed at a side of the car 10, outputting a signal to an engine control unit 18. In addition, another obstacle in the rear of the car is detected by a fixed type ultrasonic sensor 14 and two CCD sensors 16a, 16b, while a bar coded sign 24 installed in a parking partition is read out, outputting a signal to the engine control unit 18. In this engine control unit 18, a distance of up to the sign 24 and the direction are calculated and simultaneously the parking partition form is decoded. In addition, at the engine control unit 18, a control signal is fed to a steering actuator 20 and a brake actuator 22, through which a steering angle and a brake of the car are controlled, thus parking takes place.