Patent ID: 7099758

Claim:
A parking assist apparatus comprising: an initial traveling locus calculating means for calculating an initial traveling locus from an initial position of a vehicle to a target parking position in which the vehicle is desired to be parked; a new traveling locus calculating means for calculating a new traveling locus from a present vehicle position to the target parking position when a deviation amount of the present vehicle position from an initial traveling locus is equal to or greater than a first predetermined value; a parking assist means for performing a parking assist to guide the vehicle along the traveling locus generated by one of a calculation of the initial traveling locus calculating means and a calculation of the new traveling locus calculating means; and an initial traveling locus deviation calculating means for calculating the deviation amount of the present vehicle position from the initial traveling locus generated by the calculation of the initial traveling locus calculating means; wherein the parking assist means stops performing the parking assist when the deviation amount calculated by the initial traveling locus deviation calculating means is equal to or greater than a second predetermined value which is greater than the first predetermined value.