Parking assisting device

A parking assisting device is provided with: a yaw rate sensor (3) for detecting a yaw angle of a vehicle; a controller (2) having a navigation function control unit (2a) and a parking assisting function control unit (2b); a function selecting switch (4) for determining switching to a parking assisting mode from a navigation mode; a monitor (5) for providing navigation information, as well as for setting the reference position of the yaw angle and selecting a parking mode; and a speaker (6) for providing parking assisting information to a driver in accordance with a vehicle position specified on the basis of the yaw angle.