PARKING ASSISTANCE DEVICE

A parking assistance device includes: a target speed control unit that calculates a target speed for moving the vehicle subjected to assistance to a target parking position of the vehicle subjected to assistance; a speed feedback control unit that calculates a target acceleration based on deviation between the target speed and an actual speed of the vehicle subjected to assistance; a correction processing unit that corrects the target acceleration so that an absolute value becomes small when the target speed is constant; and a vehicle control unit that controls a braking and driving force of the vehicle subjected to assistance based on the target acceleration.