According to the invention, an increase in processing load is inhibited while maintaining the safety of a vehicle. An electronic control unit, ECU, parking aid (100) is a device which assists the parking of a subject vehicle (1A) and includes a route generation unit (125) which generates a traffic route on which the subject vehicle (1A) is traveling, a selection unit (127) which selects, on the basis of the traveling route, a camera used for detecting an obstacle from a camera front (41), a right-side camera (43), a left-side camera (45) and a rear camera (47) which capture an image of an environment of the subject vehicle (1A), in a case where a steering action of the subject vehicle (1A) is included in the driving route, and an obstacle detection unit (129) which detects an obstacle which possibly comes into contact with the vehicle subject (1A) from a captured image that is captured by a camera selected by the selection unit (127).
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