Parking assisting device

Provided is a parking assisting device including: an image capturing unit (2) for capturing at least an image behind the vehicle; a monitor (4) arranged near a driver seat of the vehicle for displaying the image obtained by the image capturing unit (2); a yaw angle detecting unit (9) for detecting a yaw angle of the vehicle; a guiding unit (13) for outputting the guidance information regarding the driving operations to the driver; and a controller (8) for comparing a prescribed yaw angle corresponding to a predetermined vehicle position with the yaw angle of the vehicle detected by the yaw angle detecting unit (9), to identify a current position of the vehicle, and providing the guidance information via the guiding unit (13) while displaying at least one of a predicted path and a predicted parking position on the monitor (4) so as to overlap with the image obtained by the image capturing unit (2) to enable the driver to confirm whether or not the vehicle can be parked into the target parking space by continuing the driving operations in accordance with the guidance information.