Parking assistance device, parking assistance method, and non-transitory computer readable medium

A control method of a driving assistance device configured to be mounted in a vehicle, comprising:

• receiving a first ambient image of the vehicle, the first ambient image captured by a plurality of cameras mounted in the vehicle;
• displaying a first overhead image of the vehicle on a screen of a display mounted in the vehicle, at least a part of the first overhead image corresponding to the first ambient image, the first overhead image including a vehicle image indicating the vehicle, a first line segment overlapping the first overhead image on the screen, a second line segment overlapping the first overhead image on the screen, the first line segment having a first end point and a second end point, the first line segment arranged along a forward traveling direction of the vehicle on the screen, the first end point being farther from the vehicle image than the second end point on the screen, the second line segment having a third end point and a fourth end point, the second line segment arranged along the forward traveling direction of the vehicle on the screen, the third end point being farther from the vehicle than the fourth end point on the screen, and the first line segment and the second line segment having a first distance between the first end point and the third end point on the screen, when a steering angle of the vehicle equals to a first angle from a reference angle;
• receiving a second ambient image of the vehicle, the second ambient image captured by the plurality of cameras mounted in the vehicle;
• and
• displaying a second overhead image of the vehicle on the screen, at least a part of the second overhead image corresponding to the second ambient image, the second overhead image including the vehicle image, a third line segment overlapping the second overhead image on the screen, a fourth line segment overlapping the second overhead image on the screen, the third line segment having a fifth end point and a sixth end point, the third line segment arranged along the forward traveling direction of the vehicle on the screen, the fifth end point being farther from the vehicle image than the sixth end point on the screen, the fourth line segment having a seventh end point and a eighth end point, the fourth line segment arranged along the forward traveling direction of the vehicle on the screen, the seventh end point being farther from the vehicle than the eighth end point, and the third line segment and the fourth line segment having a second distance between the fifth end point and the seventh end point on the screen, when the steering angle of the vehicle equals to a second angle from the reference angle, the second distance being greater than the first distance, when the steering angle of the vehicle equals to the second angle from the reference angle.