Parking Assistance Device And Parking Assistance Method

A parking assistance device comprising:

• an image sensor mounted on a vehicle to image a periphery of the vehicle;
• a coil for a vehicle installed on a bottom surface of the vehicle;
• a display configured to display an image imaged by the image sensor;
• and
• a control circuit configured to perform a display control on the display,
• wherein the control circuit stores a parking initial image imaged by the image sensor and simultaneously showing a power transmission coil installed on a road surface in a parking space and a ground mark provided at a predetermined distance from the power transmission coil, and estimates a position of the power transmission coil according to a parking final image indicating the ground mark imaged by the image sensor and the parking initial image when a distance between the vehicle and a target parking position falls below a predetermined value and the power transmission coil disappears from the image sensor, and displays an image showing the power transmission coil on the display according to the estimated position of the power transmission coil, and superposes and displays an image indicating the coil for a vehicle on the display.