PARKING ASSISTANCE DEVICE, PARKING ASSISTANCE METHOD, AND PARKING ASSISTANCE PROGRAM

A parking assistance device includes: a calculation unit that calculates a target speed with passage of time until a vehicle is moved to a parking target position; an event detection unit that detects an event that is a predetermined event indicating a timing of recalculation of the target speed; and an acquisition unit that acquires a current actual speed of the vehicle. Then, when the event is detected, the calculation unit recalculates the target speed to match the target speed with the current actual speed of the vehicle.