PARKING ASSISTANCE DEVICE AND PARKING ASSISTANCE METHOD

摘要

A parking assistance device having peripheral environment detection means for detecting an obstacle or a parking frame around a vehicle, and the parking assistance device also having guidance means for guiding the vehicle to a parking space adjacent to the detected obstacle or to a parking initial position enabling the vehicle to park in the detected parking frame. The mode of guidance of the guidance means to the parking initial position by the guidance means is set based on the distance, in the direction of the width of the vehicle, between the detected obstacle or the detected parking frame and the vehicle.