Parking Assistance Method and Parking Control Device

A parking control device which executes parking control with respect to a free parking space surroundings a host vehicle, the parking control device comprising:

• a target parking frame detection sensor configured to detect a first frame line of the free parking space in a direction orthogonal to a vehicle width direction and a second frame line which forms a pair with the first frame line;
• a target position setting circuit configured to set the parking target on a straight line connecting between an end of a near side of the first frame line in a direction into which the host vehicle enters and an end of a near side of the second frame line in a direction into which the host vehicle enters, or set the parking target on a straight line connecting between an end of a far side of the first frame line in a direction into which the host vehicle enters and an end of a far side of the second frame line in a direction into which the host vehicle enters;
• and
• a vehicle control circuit configured to execute the parking control so that a position of a wheel of the host vehicle is matched with the parking target.