PARKING ASSISTANCE DEVICE

A parking assist device according to the present invention is comprising: a backward-direction-path calculation unit configured to calculate a backward-direction path for taking the own vehicle out from the target parking position based on constraint conditions of a parking space and an own-vehicle behavior and the number of vehicle direction changes of the own vehicle; a connection-candidate-position storage unit configured to set a plurality of connection candidate positions on the backward-direction path; a forward-direction-path calculation unit configured to sequentially calculate paths respectively leading to the plurality of connection candidate positions from the current position of the own vehicle based on the number of vehicle direction changes of the own vehicle and the current position of the own vehicle, to select a connection candidate position to which a path having a shortest moving distance from the current position of the own vehicle leads, and to determine the path leading to the selected connection candidate position as a forward-direction path; and a parking-path setting unit configured to set the parking path by combining the backward-direction path and the forward-direction path.