DRIVING ASSISTANCE DEVICE, DRIVING ASSISTANCE METHOD, AND STORAGE MEDIUM

Provided is a driving assistance device including a storage medium storing computer-readable commands and a processor connected to the storage medium, the processor executing the computer-readable commands to: recognize an external object near a mobile object; estimate toward which gaze candidate an occupant of the mobile object is directing his or her gaze from among a plurality of gaze candidates including gaze candidates existing on a structure of the mobile object and the external object; determine that the occupant visually recognizes a gaze candidate from among the plurality of gaze candidates when the occupant is estimated to direct his or her gaze toward the gaze candidate for a first predetermined period or more; and execute driving assistance for the mobile object based on a determination result.