| 摘要 |
A parking assistance device includes: an obstacle detection unit (141) detecting an obstacle (303); a target position determination unit (143) determining a target position (P3) between a first virtual obstacle (311), based on a first obstacle, and a second virtual obstacle (312) based on a second obstacle being lined up with the first obstacle in a first direction; and a route determination unit (144) determining a first route (RTP1) from the position of a vehicle (1) to the target position, and that, when while the vehicle travels along the determined first route, the obstacle detection unit has detected a third obstacle positioned between the first and second obstacles and closer to the first obstacle than the second obstacle, enlarges the first virtual obstacle, and determines a second route (RTP2) that avoids the enlarged first virtual obstacle and is set from the position of the vehicle to the target position. |
