Driving assistance device (12) that is installed and operational on a vehicle, to provide driving assistance information to a driver to prevent the vehicle from deviating from the lane in which it is traveling, comprising: a
white line detection element (121) for detecting a lane marking which is attached to at least one right side and one left side of the lane in which the vehicle is traveling; a roadside
object detection part (122) for detecting, when the lane marking is detected by the
white line detection part, a roadside object installed along the lane marking, and for assessing a category of the detected roadside object, as well as for determining whether the roadside object is detected on at least one of the right and left sides of the lane; a distance adjustment part for setting a second
distance based on the category of the roadside object, which is assessed by the roadside
object detection part; a virtual lane marking estimator (124) for estimating a position that, starting from the position of the lane marking, lies at the second distance within the lane in which the vehicle is traveling, as a position of a virtual lane marking; and an information output section (125) for outputting the driver assistance information, wherein the output of the driver assistance information in a case where the lane marking is detected on at least one of the right and left sides of the lane in which the vehicle is traveling, and the roadside object is detected by the roadside
object detection part on at least one of the right and left sides, based on the position of the virtual lane marking estimated by the virtual lane marking
estimation part, and in a case where the lane marking is detected on at least one of the right and left sides of the lane in which the vehicle is traveling, and the roadside object is not detected by the roadside object detection part, based on a position of the lane marking detected by the
white line detection part on at least one of the right and left sides.