PARKING ASSISTANCE DEVICE

A parking assistance device includes: an obstacle detection unit (100) that detects an obstacle (A, B); a separated distance determination unit (54) that determines a separated distance (D) between the obstacles when a plurality of the obstacles are detected; a target position determination unit (36) that determines a target position (E) in a guidance route (F); a route calculation unit (38) that calculates the guidance route; and a control unit (14) that guides a vehicle (1, 62a, 62b) in accordance with the guidance route, wherein, when a second obstacle (B) is detected in a second direction (R2) orthogonal to a first direction (R1) in which one or plurality of first obstacles (A) extends or are lined up while being separated from each other and at a position separated from the first direction, the separated distance determination unit determines the separated distance between the first and second obstacles.