PARKING ASSISTANCE DEVICE

A parking assistance device includes: an acquisition unit (141) that acquires a first distance between a vehicle (1) and a first obstacle measured by a distance measuring unit (16, 16a to 16d, 17, 17a to 17h) and a second distance between the vehicle and a second obstacle measured by the distance measuring unit; a calculation unit (144) that calculates an inter-objects distance between the first and second obstacles; and a generation unit (146) that generates a guidance route for the vehicle such that each of the first and second distances become equal to or longer than a second reference distance which is shorter than a first reference distance that is a reference for safe travelling of the vehicle, when the vehicle is caused to move between the first and second obstacles and within the inter-objects distance and in a case where a condition is satisfied.