US Patent 11173896 Parking assistance device

Provided is a parking assistance device capable of reducing inconvenience felt by a driver experienced in automatic parking control during parking at a target vehicle speed corrected to a lower speed at a start of use of automatic parking control, for example. The parking assistance device controls a vehicle speed of the vehicle during parking to assist parking of the vehicle. The parking assistance device increases the vehicle speed of the vehicle during parking in accordance with a behavior during parking or from previous parking of the vehicle.