Parking route generation device

A parking route generation device for generating a parking route for causing a coupled vehicle including a tractor and a trailer to park, the parking route generation device comprising:

• a pattern storage unit configured to store a plurality of backward route patterns with a rear axle of the trailer as a reference for each wheelbase type of the trailer, the plurality of backward route patterns being a plurality of backward route patterns having different degrees of change in curvature in the route;
• a position setting unit configured to set a parking start position of the coupled vehicle and a target parking position of the coupled vehicle on the basis of information including a current position of the coupled vehicle;
• a trajectory generation unit configured to specify the plurality of backward route patterns corresponding to a wheelbase type of the trailer in the coupled vehicle on the basis of information indicating the wheelbase type of the trailer in the coupled vehicle and information stored in the pattern storage unit, and generate a plurality of backward route profiles on the basis of the plurality of specified backward route patterns;
• a trajectory selection unit configured to select the backward trajectory profile in which the coupled vehicle does not collide with an obstacle on the basis of the target parking position, information on the obstacle near the coupled vehicle, and the plurality of backward trajectory profiles;
• a route determination unit configured to determine a parking route so that the coupled vehicle that has started parking from the parking start position is parked at the target parking position through backward movement after forward movement, on the basis of the parking start position, the target parking position, and the backward trajectory profile selected by the trajectory selection unit;
• and
• a route output unit configured to output the parking route determined by the route determination unit.