DRIVING ASSISTANCE SYSTEM, DRIVING ASSISTANCE DEVICE, AND DRIVING ASSISTANCE METHOD

A sensor detects an obstacle to a vehicle. An alert device provides alert information for inquiring a passenger to determine whether to continue automatic driving when a distance between the obstacle and an end of the lane is equal to or larger than a width necessary for travel based on a width of the vehicle. An input device receives a passenger's manipulation to continue automatic driving in response the inquiry provided from the alert device. A command output unit outputs a command to ease lane-based restriction on continuation of automatic driving to an automatic driving control device when the manipulation in response is received.