UNLOADING ASSISTANCE DEVICE

A parking exit assistance apparatus according to an embodiment includes an obstacle detection unit (144) that detects an obstacle around a host vehicle, a path calculation unit (145) that calculates, on the basis of a result of detecting the obstacle, a parking exit path along which the host vehicle travels when exiting from a parking area, an operation detection unit (146) that detects a predetermined operation performed by a driver, and a control unit (147) that executes at least steering control on the basis of the parking exit path to perform parking exit assistance control for assisting the host vehicle to exit from the parking area, and, in a case where a positional relation between the host vehicle and the obstacle that the host vehicle approaches by completion of the exit satisfies a predetermined condition, ends the parking exit assistance control if the predetermined operation is detected by the operation detection unit (146).