Driving assistance device, driving assistance method, and program

A driving assistance device including: a controller configured to stop a vehicle by instructing a brake device of the vehicle in a case in which the degree of approach between a target object among objects and the vehicle satisfies a first condition by referring to an output of a detection device detecting presence of the objects that are present in front of the vehicle; and a steering avoidance controller configured to instruct a steering device of the vehicle to avoid contact with the target object using steering, in which the controller restricts a preliminary operation performed in a case in which the target object is present on a curved road more than a preliminary operation performed in a case in which the target object is not present on a curved road; and the preliminary operation is executed in a case in which the degree of approach between the vehicle and the target object is lower than the first condition.