Patent ID: 8085167

Claim:
A parking assistance apparatus assisting a driving operation for parking comprising: an image capturing portion capturing an image of a forward direction of a vehicle; a display portion displaying a captured image; a parking target position setting portion setting a parking target position of the vehicle based on the captured image when the vehicle is in a predetermined stop position; a rearward movement path calculating portion calculating a rearward movement guide path from a rearward movement start position, which is located anterior to the predetermined stop position by the vehicle and is a position where the vehicle starts rearward movement for a parking, to the parking target position; a rearward movement start position setting portion setting the rearward movement start position within a predetermined set range based on the captured image by following an instruction from an occupant of the vehicle when the vehicle is in the predetermined stop position; a forward movement path calculating portion calculating a forward movement guide path from the predetermined stop position to the rearward movement start position; a moving state detecting portion detecting a moving state of the vehicle; and a guide portion guiding the vehicle from the predetermined stop position to the rearward movement start position based on the forward movement guide path and based on the moving state, and a superimposing portion superimposing a marker showing the rearward movement start position on the captured image, wherein the rearward movement start position setting portion sets the rearward movement start position by the instruction of the occupant of the vehicle based on the marker.