Route generation device, parking assistance system, and route generation method

Abstract

Provided is a route generation device that enables reduction in a processing load for generating a parking route. A route generation device of the present disclosure includes: a surrounding environment information acquisition unit which acquires surrounding environment information around an own vehicle; an own-vehicle position estimation unit which estimates an own-vehicle position; a geometric route generation unit which generates a geometric route, using an expression representing a geometric shape of a route; a graph search route generation unit which generates a graph search route, using a graph search algorithm for searching for a route using a plurality of nodes and a plurality of edges connecting the nodes; and a route combination unit which generates a parking route from a parking start position to a parking goal position by combining the geometric route and the graph search route.