Abstract: A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route.

Abstract: A parking assist apparatus includes a parking range identification unit that identifies a current parking range using vehicle speed information and steering angle information acquired from a vehicle along with movement of the vehicle, a display control unit that causes an image indicating the identified current parking range to be displayed in such a manner as to be superimposed on a vehicle-surroundings image, an estimated movement range calculation unit that, when no vehicle speed information can be acquired in a process of a gradual reduction in vehicle speed, calculates an estimated movement range of the vehicle using deceleration of the vehicle based on vehicle speed information acquired before a time when no vehicle speed information can be acquired, and the steering angle information, and an estimated movement range display unit that displays, around the image indicating the current parking range, an image indicating the calculated estimated movement range.

Abstract: A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route.

Abstract: A parking assist apparatus includes a parking range identification unit that identifies a current parking range using vehicle speed information and steering angle information acquired from a vehicle along with movement of the vehicle, a display control unit that causes an image indicating the identified current parking range to be displayed in such a manner as to be superimposed on a vehicle-surroundings image, an estimated movement range calculation unit that, when no vehicle speed information can be acquired in a process of a gradual reduction in vehicle speed, calculates an estimated movement range of the vehicle using deceleration of the vehicle based on vehicle speed information acquired before a time when no vehicle speed information can be acquired, and the steering angle information, and an estimated movement range display unit that displays, around the image indicating the current parking range, an image indicating the calculated estimated movement range.