PARKING ASSISTANCE DEVICE

A parking assistance device is provided and includes an image acquisition unit that acquires a captured image from an imaging unit imaging surrounding circumstances of a vehicle. A setting unit sets at a start of parking assistance, a reference movement target position of the vehicle in a parking space defined by a pair of spaced dividing lines included in the captured image, and sets, after the start of the parking assistance, a movement target position of the vehicle in the parking space included in the captured image. Further, at predetermined control periods, a correction unit corrects the movement target position, based on the reference movement target position, a position acquisition unit that acquires the current position of the vehicle, and a guidance control unit that controls the vehicle to the corrected movement target position, based on the corrected movement target position and the current position.