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|1. (WO2018198506) PARKING ASSISTANCE DEVICE|
|Applicants:||AISIN SEIKI KABUSHIKI KAISHA
|Title:||PARKING ASSISTANCE DEVICE|
A parking assistance device according to an embodiment of the present invention comprises: a route acquisition unit that sets a first circumference that contacts a first straight line extending along the advancing direction of the vehicle and passes through the position of the vehicle, sets a second circumference that contacts a second straight line extending along the direction in which the vehicle will exit from a parking target region and passes through the parking target region, sets a third circumference that moves the second circumference along the second straight line until the second circumference contacts the first circumference, and acquires a guidance route that includes a portion of the first circumference as a route for moving the vehicle forward and includes a portion of the third circumference as a route for backing up the vehicle; and a guidance control unit that guides the vehicle along the guidance route.