Abstract: According to one embodiment, a parking assistance system includes a first detector configured to detect first information that is information concerning a wheel on a left-hand side of a vehicle, a second detector configured to detect second information that is information concerning a wheel on a right-hand side of the vehicle, and a processor configured to estimate a host-vehicle location that is a location of the vehicle based on the first information and the second information in a state of traveling along a set route to a target point set in a parking area, and to calculate a correction value for correcting the set route based on a route difference that is a difference between the set route and the host-vehicle location.