A control apparatus for an automatic traveling vehicle includes a position sensor and circuitry. The position sensor is to detect a vehicle position of the automatic traveling vehicle. The circuitry is configured to control the automatic traveling vehicle to travel along a first route, a first turn route connected to the first route, a straight route connected to the first turn route, a second turn route connected to the straight route, and a second route connected to the second turn route in this order, and to calculate the straight route extending from a reference point on the first turn route to the second turn route such that the straight route is tangent to the second turn route.
