Parking assistance device and parking assistance method

A parking assistance method comprising:

• determining, when parallel parking of a vehicle in a parking area is assisted, whether a parking space length of an open side of the parking area that the vehicle enters is a sum of a full length of the vehicle and a certain length or more;
• and
• performing parking assistance for the vehicle:
• on a first route on which stationary steering control is not performed at a turning position when the parking space length is the sum of the full length of the vehicle and the certain length or more, and
• on a second route on which stationary steering control is performed at the turning position when the parking space length is less than the sum of the full length of the vehicle and the certain length, wherein
• the turning position is a position at which a traveling direction of the vehicle is changed between forward and rearward on the first route or the second route to the parking area.

A parking assistance device comprising:

• an electronic control unit comprising at least one processor, the electronic control unit configured as:
• a determination unit that determines, when parking of a vehicle in a parking area is assisted, whether a length of an open side of the parking area that the vehicle enters is a sum of a full length of the vehicle and a certain length or more;
• and
• a control unit that performs parking assistance for the vehicle:
• on a first route drawn based on a clothoid curve at a turning position when the control unit determines that the length of the open side of the parking area is the sum of the full length of the vehicle and the certain length or more, stationary steering control not being performed on the first route, and
• on a second route on which stationary steering control is performed at the turning position when the parking space length is less than the sum of the full length of the vehicle and the certain length, wherein
• the turning position is a position at which a traveling direction of the vehicle is changed between forward and rearward on the first route or the second route to the parking area.