DRIVING ASSISTANCE DEVICE FOR VEHICLE

A driving assistance device for a vehicle includes a traveling environment recognizer, a braking force learner, and a braking force complementer. The traveling environment recognizer is configured to recognize traveling environment information related to an outside of the vehicle. The braking force learner is configured to, in a case where a driver who drives the vehicle has started a brake operation against a braking target recognized ahead based on the traveling environment information before a timing set based on a correlation between the vehicle and the braking target, acquire a braking force characteristic learning value based on a braking force generated from start to end of braking performed by the brake operation. The braking force complementer is configured to, in a case where the driver has started the brake operation after the set timing, complement the braking force based on the braking force characteristic learning value.