1. US20220028278 - Route Generation Device

According to the present invention, a route controller generates a route that makes a ship dock at a berthing facility. The route includes a first location and a second location (P2). The first location is a via point that is offset a prescribed distance in a direction that is orthogonal to the direction in which the berthing facility is oriented from a docking point for the ship at the berthing facility. The second location is the docking point for the ship at the berthing facility. The first location is immediately before the second location in the sequence to be realized by the ship. The route is generated such that the ship remains oriented in the direction in which the berthing facility is oriented as the ship moves from the first location to the second location.