DRIVING ASSISTANCE DEVICE

An object of the present invention is to execute steering control depending on a situation in an adjacent lane. A driving assistance device according to the present invention includes: at least one sensor () configured to acquire vehicle surrounding information; and at least one processor configured to: execute determination processing of determining whether a current situation is a first situation or a second situation based on the vehicle surrounding information; and execute steering control for driving a principal vehicle along a target track (TL) based on a result of the determination processing. The first situation is a situation in which the principal vehicle overtakes a first other vehicle traveling in a first adjacent lane. The second situation is a situation in which the principal vehicle is overtaken by the first other vehicle traveling in the first adjacent lane.