PARKING ASSISTANCE DEVICE

The invention relates to a parking assistance device, comprising an autonomous vehicle detecting unit adapted to detect whether a parked vehicle is an autonomous vehicle () capable of moving autonomously, a parking space optimization area detecting unit adapted to detect at least one parking space optimization area (), a distance measuring unit adapted to measure a distance () in front of or behind the at least one autonomous vehicle (), a parking spot determining unit adapted to determine whether or not a subset of the distances () measured by the distance measuring unit is equal to or larger than a predetermined distance required for parking a host vehicle (), and a communication unit () adapted to output a movement command to the at least one parked autonomous vehicle (). The invention further relates to an according parking assistance method.