Parking assistance device

A parking assistance device comprising:

• an obstacle detection unit configured to detect an obstacle around a vehicle;
• a parking point detection unit configured to detect a parking target point where the vehicle can be parked based on the result of the obstacle detection;
• and
• a parking assistance control unit configured to guide the vehicle from a parking start point to the parking target point according to a guidance route based on the result of the obstacle detection and the result of the parking target point detection,
• wherein, in a case where a traveling of the vehicle is detected during a period of time from a time when the vehicle reaches the parking start point to a time when a shift range is changed, the parking assistance control unit does not execute the guidance of the vehicle.

A parking assistance device comprising:

• an obstacle detection sensor configured to detect an obstacle around a vehicle;
• a shift sensor configured to detect a shift range;
• a travel detector configured to detect a traveling of the vehicle during a period of time from a time when the vehicle reaches a parking start point to a time when a change of the shift range is detected by the shift sensor;
• and
• a controller connected to the obstacle detection sensor, the shift sensor and the travel detector, the controller being configured to:
• detect a parking target point where the vehicle can be parked based on the result of the obstacle detection by the obstacle detection sensor;
• guide the vehicle from the parking start point to the parking target point according to a guidance route based on the result of the obstacle detection by the obstacle detection sensor and the result of the parking target point detection by the controller;
• and
• cancel the guidance of the vehicle in a case where a traveling of the vehicle is detected by the travel detector.