Parking Assistance Device and Method

A parking assistance device includes a camera configured to capture a rear-view image of a vehicle, a plurality of sensors configured to sense an obstacle located around the vehicle, a controller configured to generate a parking guide line to guide the vehicle into a target parking space and assist a driver of the vehicle to park based on a separation distance between a predicted entrance trajectory corresponding to a steering angle of the vehicle and the parking guide line, and a display configured to match and display the rear-view image of the vehicle with the parking guide line.