PARKING ASSISTANCE DEVICE

A parking assistance apparatus capable of making a parking route shorter when providing parking assistance for parallel parking is obtained. The parking assistance apparatus according to the present invention is a parking assistance apparatus for assisting the parallel parking of a driver's own vehicle 21 and has a configuration that: calculates an escapable position where the driver's own vehicle 21 can be made to escape from a parking area Sp; calculates a parking-space leaving route E where the driver's own vehicle 21 can be moved from the escapable position to an initial position P0 in a passage area Sr; and sets a parking route based on the parking-space leaving route E. The parking-space leaving route E is calculated by using a first turning circle C1 when turning from the escapable position P2 to a passage side, a second turning circle C2 when turning in a direction of a target parking position P1 at the initial position P0 of the driver's own vehicle 21, and a third turning circle which is a locus of a turning center when the driver's own vehicle 21 has moved along the first turning circle C1 and turns in a direction different from the first turning circle C1.