What lighting must be used to park on a sufficiently illuminated road within a built-up area?

Within a built-up area, to park on a sufficiently illuminated road it will not be necessary to use any lighting. When the road's lighting does not allow other users to distinguish the vehicle at a sufficient distance, we must leave the parking lights or position lights on.
We must also leave the lights on when we park on an insufficiently illuminated through-road.