To provide a parking support system capable of measuring a distance from a vehicle to an obstacle even in the insensitive area of an obstacle detection sensor.

A parking support system includes an obstacle detection sensor 10 having a sensor body for emitting an ultrasonic wave disposed in a vehicle and an area from the sensor body by a fixed distance L set as an insensitive area, an informing part 22 for performing informing to prompt a turn-back operation when an obstacle enters the predetermined area of the obstacle detection sensor 10 by the movement of the vehicle, a distance calculation part 23 calculating, after the obstacle has entered the insensitive area, the moving distance L1 of the vehicle based on vehicle moving information 14, and subtracting the moving distance L1 from the fixed distance L of the insensitive area to calculate a residual distance L2 from the vehicle to the obstacle, and a vehicle movement regulation part 25 for regulating the movement of the vehicle in a direction of approaching the obstacle when the residual distance L2 is equal to a preset movement regulation start distance.