Driving assistance device, driving assistance method, and storage medium

Abstract

A driving assistance device includes a storage medium configured to store computer-readable instructions, and a processor that is connected to the storage medium, in which the processor executes the computer-readable instructions to determine to prompt a driver of a mobile object to avoid contact with an object detected by an object detection device whose detection range is at least on a traveling direction side of the mobile object according to steering, and a steering direction for avoiding contact with the object, and when it is determined to prompt the driver of the mobile object to avoid contact with the object according to steering, cause an actuator capable of outputting force to a steering operator to execute outputting, first, a force to reach a first target force in the same direction as the steering direction in a first period to maintain the state, and causing, then, a force output in a second period longer than the first period to reach zero.