PARKING ASSIST APPARATUS

A parking assist apparatus includes an image pickup device, a three-dimensional object information acquisition device, and a control unit which executes parking assist control. The control unit registers in a storage device a path along which the vehicle has traveled when the driver has driven the vehicle from a start position to a parking position as a registered path together with a feature point extracted from a surrounding of the path and a three-dimensional object included in the three-dimensional object information, calculates, when a feature point and a three-dimensional object are detected, the registered path based on the positions of the feature point and the three-dimensional object, and notifies the driver, by display or a sound, of a first section in which the parking assist control can be started when a start condition which is satisfied when it is determined that the parking assist control can be started is satisfied.