| 摘要 |
A parking assistance device includes an obstacle detection unit configured to detect an obstacle around a vehicle, a parking point detection unit configured to detect a parking target point where the vehicle can be parked based on the result of the obstacle detection, and a parking assistance control unit configured to guide the vehicle from a parking start point to the parking target point according to a guidance route based on the result of the obstacle detection and the result of the parking target point detection in a case where a traveling of the vehicle is detected during a period of time from a time when the vehicle reaches the parking start point to a time when a shift range is changed, the parking assistance control unit does not execute the guidance of the vehicle. |
