PARKING ASSISTANCE DEVICE

Parking a vehicle at a location where parking is possible even when an obstacle is falsely detected. In a parking assistance device , an external environment recognition unit recognizes road surface environment around an own vehicle on the basis of information detected by an external environment sensor installed in the own vehicle. The display control unit performs screen display using the HMI device to present, to an occupant of the own vehicle, road surface information indicating the presence of an obstacle on the road surface around the own vehicle on the basis of the road surface environment recognized by the external environment recognition unit . The road surface information correction unit corrects the road surface information and invalidates the obstacle. The parking route calculation unit calculates a parking route for parking the own vehicle on the basis of the road surface information corrected by the road surface information correction unit