PARKING ASSIST APPARATUS

A parking assist apparatus of the present invention assists parallel parking of an own vehicle . The parking assist apparatus includes: a first route calculation unit configured to calculate a first route for moving the own vehicle from a target parking position P to a virtual departure position P based on a parking space and a constraint condition of own vehicle behavior; a second route calculation unit configured to calculate a second route for moving the own vehicle from an initial position P where parking assistance is started to the virtual departure position P; and a parking route setting unit configured to set a parking route of the own vehicle with use of the first route and the second route.