boyfriend is scared to tell parents about us?

so i have been dating my boyfriend for over five months now and we are extremely happy. we go on dates and it is going great. the only thing is, my family knows and his doesnt. his friends drive him to our dates, and his friend told him he cant drive him saturday and he's just cancelling, not even asking his mom or dad. his parents know i'm his girlfriend but he makes it seem like they wouldn't want him to date. also, i invited him over this summer so he can get to know where i live and my family. but he was like "its going to be a while before that happens" but idk what that means bc we were talking about him coming over this shmmer. should i ask him to ask his mom if he can drive him saturday? also should i bring up him asking his parents about coming over or having me over?