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

A parking assistance device that performs automatic travel of a vehicle based on teaching travel by a driver is provided. The parking assistance device: learns a travel route for parking the vehicle in a parking position during the teaching travel, based on the teaching travel; performs an automatic travel based on the travel route; controls 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, first environmental information, or first geographic information; and controls the automatic travel not to implement the temporary stop at second points where the vehicle has temporarily stopped during teaching travel based on any of a second regulation, second environmental information, or second geographic information.