Parking assisting device

A controller is provided with a CPU, an EEPROM for storing data that is unique to a vehicle and which is rewritable, and a control ROM for performing parking assistance upon parking in lateral and parking in parallel, based on a minimum turning radius Rc of the data that is unique to the vehicle, which is stored in the EEPROM, and the CPU operates based on the control program stored in the control ROM. The controller 1 calculates a yaw angle of the vehicle from an angular speed of the vehicle inputted from a yaw rate sensor and information about an operation method and operation timing in each step is outputted to a speaker through calculating a turning angle of the vehicle, thereby appropriately assisting a driver during parking in lateral and parking in parallel.