Parking Assistance Device

A parking assistance device includes: a vehicle location acquiring unit for acquiring the current location of a vehicle; an object information acquiring unit for acquiring object information that includes information relating to locations of objects in the vicinity of the vehicle; and a target route setting unit for setting a plurality of routes between the current location and a predetermined parking space, identifying the route, of the plurality of routes, with the longest distance to the object, and, based on the identified route, setting a target route for the vehicle to travel from the current location to the predetermined parking space.