Driving assistance device, driving assistance method, and storage medium

A driving assistance device executes dual-side braking steering avoidance control for forcibly decelerating a target vehicle by applying braking forces to wheels on both sides of the target vehicle and forcibly turning the target vehicle to swerve around an object in a case where a turning amount increase request condition is not satisfied. When forcibly turning the target vehicle rightward or leftward by collision avoidance control to swerve around the object in a case where the turning amount increase request condition is satisfied, the driving assistance device executes single-side braking steering avoidance control for forcibly decelerating the target vehicle by applying a braking force only to a right or left wheel of the target vehicle and forcibly turning the target vehicle to swerve around the object.