PARKING ASSISTANCE DEVICE, PARKING ASSISTANCE METHOD, AND COMPUTER-READABLE MEDIUM

A parking assistance device according to the present disclosure performs automatic travel of a vehicle based on teaching travel by a driver. The parking assistance device includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: learn a travel route for parking the vehicle in a parking position during the teaching travel, based on the teaching travel; perform an automatic travel based on the travel route; and control the automatic travel to implement a temporary stop at first points where the vehicle has not temporarily stopped during teaching travel based on any of a first regulation for the automatic travel of the vehicle, first environmental information relating to a first environment around the vehicle, or first geographic information relating to a first road condition around the vehicle.