A parking support device which supports running of an automotive vehicle to a target parking position, comprising: a distance measuring unit measuring a quantity equivalent to a distance from the vehicle to an object existing in a predetermined direction; a storage unit storing a sequence of points indicating results of the measurement performed by the distance measuring unit multiple times; an object information generating unit computing a length of the sequence of points as a distance between end points of the sequence, the object information generating unit configured to determine whether a length of the sequence of points increasing with a movement of the vehicle has exceeded a first reference length and generate a temporary object information of the object based on the sequence of points when the length of the sequence of points has exceeded the first reference length; and the object information generating unit further configured to determine whether a length of the sequence of points increasing with a further movement of the vehicle has exceeded a second reference length, larger than the first reference length and generate a final object information of the object based on the sequence of points when the length of the sequence of points has exceeded the second reference, wherein a target parking position is determined based on the temporary object information in a stage where the temporary object information is generated by the object information generating unit, and wherein, after the final object information is generated by the object information generating unit, by using an approximate curve and an approximate straight line to the sequence of points the length of which exceeded the second reference length, the target parking position based on the temporary object information is corrected based on the final object information. a distance measuring unit measuring a quantity equivalent to a distance from the vehicle to an object existing in a predetermined direction; a storage unit storing a sequence of points indicating results of the measurement performed by the distance measuring unit multiple times; an object information generating unit computing a length of the sequence of points as a distance between end points of the sequence, the object information generating unit configured to determine whether a length of the sequence of points increasing with a movement of the vehicle has exceeded a first reference length and generate a temporary object information of the object based on the sequence of points when the length of the sequence of points has exceeded the first reference length; and the object information generating unit further configured to determine whether a length of the sequence of points increasing with a further movement of the vehicle has exceeded a second reference length, larger than the first reference length and generate a final object information of the object based on the sequence of points when the length of the sequence of points has exceeded the second reference, wherein a target parking position is determined based on the temporary object information in a stage where the temporary object information is generated by the object information generating unit, and wherein, after the final object information is generated by the object information generating unit, by using an approximate curve and an approximate straight line to the sequence of points the length of which exceeded the second reference length, the target parking position based on the temporary object information is corrected based on the final object information.