A control target controller generates control targets in accordance with a route, the control targets being for controlling the location and orientation of a ship. The route has a plurality of via points. Each of the via points has information about a target location and a target orientation for the ship. The route is made up of a plurality of partial routes that sequentially connect the target locations of the via points. The control target controller comprises a transit target point generation part and an arrival determination part. The transit target point generation part can generate, as control targets, transit target points that are in the middle of the partial routes and have information about a target location and a target orientation for the ship. On the basis of the current location and the current orientation of the ship, the arrival determination part determines whether the ship has arrived at the transit target points.