DRIVING ASSISTANCE DEVICE

The present invention relates to a driving assistance device (10) that executes automatic steering such that, when a vehicle (1) is reversing, the vehicle (1) tracks back along a trace formed in forward traveling. The driving assistance device (10) includes: a trace estimator (12) that estimates the trace based on a vehicle speed and a steering angle in forward traveling of the vehicle (1); a target steering angle calculator (13) that calculates, upon receipt of an instruction on the automatic steering, a target steering angle based on a positional relationship between a reference point and a target point, the reference point corresponding to a current position of the vehicle (1) estimated from the vehicle speed and the steering angle, the target point being positioned on the trace and having a predetermined value of distance from the reference point; and an automatic steering unit (14) that automatically operates a steering (5) such that a steering angle in reversing of the vehicle (1) becomes the target steering angle. The driving assistance device (10) further includes a vehicle speed calculator (11) that calculates the vehicle speed based on a rotating speed of a steerable wheel (2).