PARKING ASSISTANCE DEVICE AND CONTROL METHOD OF PARKING ASSISTANCE DEVICE

A vehicle is parked in a preferable bearing that corresponds to an obstacle present around a parking region. A parking assistance device (100) includes a parking region detection unit (133) that detects a parking region (300), a parking direction specification unit (134) that specifies a parking direction in a case where a subject vehicle (5) is parked at the parking region (300), an obstacle detection unit (132) that detects an obstacle, a detection range setting unit (136) that sets a detection range (350) for detecting a bearing of the obstacle, a division unit (137) that divides the detection range (350) in a direction associated with the specified parking direction and generates plural divided ranges, a bearing calculation unit (138) that calculates a bearing of the detected obstacle, which is a bearing of a side surface of the obstacle which extends in the parking direction, for each of the divided ranges and calculates an average value of the bearings of the obstacle which are respectively calculated for the divided ranges, and a parking position setting unit (139) that sets a parking position in a case where the subject vehicle (5) is parked at the parking region (300) based on the calculated average value of the bearings. [0002] (Figure 1)