DRIVING ASSISTANCE DEVICE AND DRIVING ASSISTANCE METHOD

A driving assistance device that detects an object in a traveling direction of a vehicle and to assist avoiding a collision of the vehicle with the object, including: a decision unit that decides whether there is a possibility of the own vehicle colliding with the detected object; a creation unit that creates an action plan for the own vehicle to avoid colliding with the detected object; a transmission unit that transmits the action plan to another vehicle; a receiving unit that receives, from the other vehicle that received the action plan, a response including information on whether it is possible for the other vehicle to take an action to avoid colliding with the own vehicle; a determination unit that determines an action based on the action plan and the response from the other vehicle; and an execution unit that executes the action determined by the determination unit.