Parking assistance device

A parking assistance device that assists an operation of steerable wheels for causing a vehicle to enter or exit a parking space by automatic control of a steering device, the parking assistance device comprising:

• a path calculating section configured to calculate a moving path along which the vehicle moves to a target position;
• a steered angle calculating section configured to calculate a target steered angle of the steerable wheels required for causing the vehicle to move along the moving path;
• a steered angle detecting section configured to detect an actual steered angle of the steerable wheels;
• and
• a control section configured to stop the operation of the steerable wheels under the automatic control when the target steered angle is an angle closer to a neutral angle than the actual steered angle and to perform the operation of the steerable wheels under the automatic control when the target steered angle is not an angle closer to the neutral angle than the actual steered angle.