PARKING ROUTE GENERATION DEVICE

A parking route generation device includes a pattern storage unit that stores a plurality of backward route patterns, a position setting unit that sets a parking start position of a coupled vehicle and a target parking position of the coupled vehicle, a trajectory generation unit that generates a plurality of backward route profiles on the basis of information indicating the wheelbase length of the trailer in the coupled vehicle and information stored in a pattern storage unit, a trajectory selection unit that selects the backward trajectory profile in which the coupled vehicle does not collide with an obstacle, a route determination unit that determines a parking route so that the coupled vehicle that has started parking from the parking start position is parked at the target parking position through backward movement after forward movement, and a route output unit that outputs the parking route.