Parking assistance method and parking assistance device

A parking assistance device for automatically driving a vehicle, the parking assistance device comprising:

• a memory configured to store first feature point information in teacher traveling of moving a vehicle and stopping the vehicle in a first parking mode;
• and
• a processor coupled to the memory and configured to:
• generate an overhead view image by combining a front image of the vehicle, a rear image of the vehicle, and a side image of the vehicle;
• compare the stored first feature point information with second feature point information extracted from a current surrounding image of the vehicle;
• display the overhead view image, information indicating the first parking mode, and information simulating a second parking mode different from the first parking mode;
• receive an instruction to change a current parking mode, the instruction designating the second parking mode different from the first parking mode;
• and
• automatically drive the vehicle based on the second parking mode, wherein
• the second parking mode includes a second parking position and a second parking orientation of the vehicle,
• the information simulating the second parking mode is displayed after the teacher traveling,
• the instruction to change the current parking mode is based on a user operation of designating the second parking mode,
• the user operation is performed by moving and rotating the information simulating the second parking mode,
• a first parking position and a first parking orientation of the vehicle in the first parking mode are different from the second parking position and the second parking orientation of the vehicle in the second parking mode, and
• a driving route of the teacher traveling and a driving route of an automated traveling based on the second parking mode are different.