PARKING ASSISTANCE DEVICE

To provide a technique capable of reducing an amount of processing for setting a parking route.SOLUTION: A route generation unit 228 generates a first route to a parking region when a relative relationship between an initial placement of a vehicle 100 and the parking region satisfies a first condition. On the other hand, when the relative relationship between the initial placement of the vehicle 100 and the parking region satisfies a second condition, the route generation unit 228 generates a second route to a changed placement that satisfies the first condition for the parking region and a third route from the changed placement to the parking region. An output unit 230 outputs an instruction on steering along the first route or an instruction on steering along the second route and the third route.SELECTED DRAWING: Figure 2 【課題】駐車経路を設定するための処理量を低減する技術を提供する。【解決手段】経路生成部２２８は、車両１００の初期配置と駐車領域との相対的な関係が第１条件を満たす場合、駐車領域へ至る第１経路を生成する。一方、経路生成部２２８は、車両１００の初期配置と駐車領域との相対的な関係が第２条件を満たす場合、駐車領域に対する第１条件を満たす変更配置へ至る第２経路と、変更配置から前記駐車領域へ至る第３経路とを生成する。出力部２３０は、第１経路に沿った操舵の指示、あるいは第２経路と第３経路に沿った操舵の指示を出力する。【選択図】図２