PARKING ASSISTANCE DEVICE

A parking assistance device of an embodiment of the present invention includes, for example, an image acquisition unit (50) that acquires a captured image from an imaging unit (14) that images surrounding circumstances of a vehicle (10), a setting unit (58) that sets, at a start of parking assistance, a reference movement target position of the vehicle (10) in a parking space (42) 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 (10) in the parking space (42) defined by the pair of dividing lines included in the captured image, at predetermined control periods, a correction unit (66) that corrects the movement target position, based on the reference movement target position, a position acquisition unit (54) that acquires the current position of the vehicle (10), and a guidance control unit (64) that performs control to guide the vehicle to the corrected movement target position, based on the corrected movement target position and the current position.