A parking assist system comprising a parking information management server and a parking assist device, wherein the parking information management server, comprises: a receiver configured to receive a parking information item which has transmitted from one or more vehicles, the parking information item comprising a traveling path in which the vehicle has traveled as well as a parking area and an obstacle which are acquired by the vehicle in a parking lot the vehicle has used; a memory configured to store the parking information item received by the receiver; a map creator configured to create a map comprising the parking area and the obstacle based on the parking information item stored in the memory; and a transmitter configured to transmit the map created by the map creator and the traveling path this is stored in the memory and corresponds to the map to a vehicle which has requested the map, wherein the memory is configured to store the parking information item associated with information regarding a size of the vehicle which is acquired together with the parking information item from the vehicle, and wherein the map creator is configured to create, among the traveling paths, the traveling path in the parking information item acquired from the vehicle having a same size as the vehicle which has requested the map, wherein the parking assist device comprises: a receiver configured to receive the map transmitted from the parking information management server, a position detector configured to detect a position of the vehicle; a camera configured to detect a parking area by photographing a periphery of the vehicle; an obstacle detector configured to detect an obstacle in the periphery the vehicle; and a guide signal output part configured to output a signal to a vehicle controller that controls driving of the vehicle to guide the vehicle based on the map and the traveling path received by the receiver. a receiver configured to receive a parking information item which has transmitted from one or more vehicles, the parking information item comprising a traveling path in which the vehicle has traveled as well as a parking area and an obstacle which are acquired by the vehicle in a parking lot the vehicle has used; a memory configured to store the parking information item received by the receiver; a map creator configured to create a map comprising the parking area and the obstacle based on the parking information item stored in the memory; and a transmitter configured to transmit the map created by the map creator and the traveling path this is stored in the memory and corresponds to the map to a vehicle which has requested the map, wherein the memory is configured to store the parking information item associated with information regarding a size of the vehicle which is acquired together with the parking information item from the vehicle, and wherein the map creator is configured to create, among the traveling paths, the traveling path in the parking information item acquired from the vehicle having a same size as the vehicle which has requested the map, a receiver configured to receive the map transmitted from the parking information management server, a position detector configured to detect a position of the vehicle; a camera configured to detect a parking area by photographing a periphery of the vehicle; an obstacle detector configured to detect an obstacle in the periphery the vehicle; and a guide signal output part configured to output a signal to a vehicle controller that controls driving of the vehicle to guide the vehicle based on the map and the traveling path received by the receiver.