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|1. (WO2018198530) 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 steering angle calculation unit that calculates a steering angle in which, when a vehicle is performing a cutback in order to enter a parking frame, the position of the turning center of the vehicle is a position separated farther from the parking frame than the outer end on the opposite side of the cutback position of the vehicle from the advancing direction of the vehicle, in a first direction that is perpendicular to the advancing direction of the vehicle in relation to the parking frame; a route acquisition unit that acquires the movement route of the vehicle on the basis of the calculated steering angle and the cutback position; and a movement control unit that performs a stationary control for steering when the vehicle is stopped on the basis of the acquired movement route, and moves the vehicle.