DRIVING ASSISTANCE DEVICE AND A NON-TRANSITORY STORAGE MEDIUM

A driving assistance device () having a processor () that executes a process of detecting objects around a vehicle (), wherein the processor is configured to execute following processes: obtaining first detection values outputted from a plurality of sonar sensors provided in the vehicle, second detection values indicating the state of the shift range, and third detection values corresponding to the steering angle of the steering device, controlling a notification device () that operates in conjunction with the first detection values and adjusting notification contents to be output, calculating the relative distance between the vehicle and the objects existing around the vehicle based on the first detection values, determining the traveling direction of the vehicle based on the second detected values, calculating priorities according to the sonar sensors individually based on the traveling direction and the steering angle, adjusting the notification contents according to level of the priorities.