A PARKING ASSIST APPARATUS AND A METHOD OF CONTROLLING THE PARKING ASSIST APPARATUS

To enable to specify parking paths advantageous for improving the ride quality and comfort.A parking assist apparatus 100 uses vehicle information 122 and the recognition result of a peripheral recognition unit 111 to calculate a plurality of patterns of parking paths, in which the radius of curvature of each of the arcs included in the parking paths is differentiated, as parking paths to park a vehicle 1 at a parking area, by a parking path calculation unit 115. In addition, the parking assist apparatus 100 selects, among the plurality patterns of parking paths, a parking path with both a minimum number of times of driving operations for changing an advancing direction of the vehicle 1 from forward to reverse or reverse to forward, and the radius of curvature of the arc that is largest, by a parking path selection unit 116.