PARKING ASSISTANCE DEVICE, PARKING ASSISTANCE METHOD, AND COMPUTER PROGRAM PRODUCT

A parking assistance device includes a route setting unit configured to set a target route by using a detection result of a sensor device, a control region setting unit configured to set a first control region and a second control region along the target route, and a driving control unit. The first control region is larger than the second control region. A center of the first control region is positioned farther from the vehicle than a center of the second control region. The driving control unit is configured to control driving of the vehicle such that a vehicle speed is kept at or below a threshold speed when an obstacle is detected within the first control region, and to control driving of the vehicle such that the vehicle is brought to a stop at a predefined deceleration when an obstacle is detected within the second control region.