PARKING ASSISTANCE DEVICE

A parking assistance device includes: a route determination unit (144) that determines a route from an initial position (PS) of a vehicle (1) to a target parking position (PT) when assisting the vehicle to be parked in a parking area, and includes, a first generation unit (1441) generating a first circumference tangent to a line passing though the initial position and extending along a forward direction of the vehicle, and a second generation unit (1442) generating a second circumference having a tangent line passing through a rear position of the vehicle at a rear direction of the target parking position in the forward direction and extending along the forward direction, and having a radius of minimum turning of the vehicle, a part of the first circumference functions as a part of the route, and a part of a third circumference functions as the route subsequent to the first circumference.