Parking trajectory calculation apparatus and parking trajectory calculation method

摘要

The present invention provides a parking trajectory calculation apparatus and a parking trajectory calculation method capable of calculating a parking trajectory from an arbitrary parking start position. An aspect of the present invention recognizes a parking space for parking a subject vehicle in a preset limited area Area1, calculates a first parking trajectory from P1 to P0 for guiding the subject vehicle from the arbitrary parking start position to the parking space by causing the subject vehicle to first move backward, calculates a second parking trajectory from P2 to P0 by causing the subject vehicle to move backward after moving forward if the first parking trajectory from P1 to P0 cannot be calculated, and ends the calculation of the parking trajectory if the second parking trajectory from P2 to P0 cannot be calculated.