Parking assistance device

A parking assistance device for automatically parking a vehicle, comprising

• a front detector that is mounted on a front of the vehicle and collects first information about objects in the front of the vehicle;
• a side detector that is mounted on a side of the vehicle and collects second information about objects on the side of the vehicle;
• a human machine interface (HMI);
• and
• a processor that is communicatively coupled to the front detector, the side detector and the HMI,
• wherein the processor is configured to:
• determine a plurality of candidate parkable spaces for the vehicle based on first information from the front detector and, information acquired by the side detector when the vehicle passes by each respective parkable space among the plurality of the candidate parkable spaces,
• determine whether a remote entry/exit function is installed,
• selectively delete one or more of the plurality of the candidate parkable spaces when the remote entry/exit function is not installed to form a plurality of parkable spaces,
• display, using the HMI, the plurality of parkable spaces,
• receive, using the HMI, a selection of a target space from among the plurality of the parkable spaces, and
• control the vehicle to park in the target space in response to the selection.