DRIVING ASSISTANCE DEVICE AND VEHICLE

A driving assistance device that provides assistance to a vehicle including a sensor, collecting peripheral information, includes a detection unit that detects an obstacle and a parking area at a vehicle periphery; a road width calculation unit that calculates an area between first and second boundary lines as a road width; a route calculation unit that calculates a movement route through the area and the parking area to a target position; and a movement control unit that moves the vehicle along the movement route; where when a second obstacle is detected on the inside of the first and second boundary lines and on the second boundary line side with respect to the vehicle, and the second obstacle is continuously detected when the vehicle reaches a predetermined timing, an area between a third boundary line extending in the predetermined direction and the first boundary line is detected as new road width.