PARKING ASSISTANCE DEVICE

A parking assistance device (14, 14a, 30) includes: a situation information acquisition unit (32) acquiring, when a vehicle (1) is repeatedly parked at a parking target position (T), peripheral situation information; a storage control unit (38) storing first situation information indicating the peripheral situation information and a movement route (R) for the parking target position; an information updating unit (40) updating, when new information is included in second situation information acquired when newly parking at the parking target position and a region specified by the new information does not interfere with a region where the movement route exists, the first situation information by the second situation information; a current position estimation unit (42) estimating a current position by comparing the first and second situation information; and a guidance control unit (44) guiding the vehicle to the parking target position according to the estimated current position and the movement route.