A parking assistance device comprising: a setting unit that sets a movement route of a vehicle with an electric power steering when parking assistance is activated in the vehicle; a generation unit that generates control data equivalent to a changed steering angle curve which has taken into consideration a response delay between the output steering angle of the electric power steering and an actual tire angle in advance, based on the set movement route; and a control unit that controls the electric power steering based on the control data, wherein the generation unit includes a tire angle delay calculating unit that calculates a movement distance shortage amount of the vehicle which is caused by the response delay of the tire angle, based on a vehicle body speed of the vehicle, a data generation unit (204, 204A) that generates the control data based on the set movement route, a movement distance of the vehicle after the movement of the vehicle has been started by the parking assistance, and the movement distance shortage amount of the vehicle which is caused by the response delay of the tire angle, and a steering delay calculating unit that calculates a movement distance shortage amount of the vehicle which is caused by a response delay of the electric power steering, based on a vehicle body speed of the vehicle and acceleration of the vehicle, wherein the data generation unit generates the control data based on the set movement route, the movement distance of the vehicle after the movement of the vehicle has been started by the parking assistance, the movement distance shortage amount of the vehicle which is caused by the response delay of the electric power steering, and the movement distance shortage amount which is caused by the response delay of the tire angle, characterized in that the data generation unit generates the control data using the movement distance shortage amount of the vehicle which is caused by the response delay of the electric power steering, and the movement distance shortage amount of the vehicle which is caused by the response delay of the tire angle, both of which are calculated in a state where the vehicle travels in the same conditions. a setting unit that sets a movement route of a vehicle with an electric power steering when parking assistance is activated in the vehicle; a generation unit that generates control data equivalent to a changed steering angle curve which has taken into consideration a response delay between the output steering angle of the electric power steering and an actual tire angle in advance, based on the set movement route; and a control unit that controls the electric power steering based on the control data, wherein the generation unit includes a tire angle delay calculating unit that calculates a movement distance shortage amount of the vehicle which is caused by the response delay of the tire angle, based on a vehicle body speed of the vehicle, a data generation unit (204, 204A) that generates the control data based on the set movement route, a movement distance of the vehicle after the movement of the vehicle has been started by the parking assistance, and the movement distance shortage amount of the vehicle which is caused by the response delay of the tire angle, and a steering delay calculating unit that calculates a movement distance shortage amount of the vehicle which is caused by a response delay of the electric power steering, based on a vehicle body speed of the vehicle and acceleration of the vehicle, a tire angle delay calculating unit that calculates a movement distance shortage amount of the vehicle which is caused by the response delay of the tire angle, based on a vehicle body speed of the vehicle, a data generation unit (204, 204A) that generates the control data based on the set movement route, a movement distance of the vehicle after the movement of the vehicle has been started by the parking assistance, and the movement distance shortage amount of the vehicle which is caused by the response delay of the tire angle, and a steering delay calculating unit that calculates a movement distance shortage amount of the vehicle which is caused by a response delay of the electric power steering, based on a vehicle body speed of the vehicle and acceleration of the vehicle, wherein the data generation unit generates the control data based on the set movement route, the movement distance of the vehicle after the movement of the vehicle has been started by the parking assistance, the movement distance shortage amount of the vehicle which is caused by the response delay of the electric power steering, and the movement distance shortage amount which is caused by the response delay of the tire angle, characterized in that the data generation unit generates the control data using the movement distance shortage amount of the vehicle which is caused by the response delay of the electric power steering, and the movement distance shortage amount of the vehicle which is caused by the response delay of the tire angle, both of which are calculated in a state where the vehicle travels in the same conditions.