Abstract: The driving assistance device controls lateral movement of the vehicle. The driving assistance device includes a steering operation actuator that steers the wheels, a detection device that detects the position of the driver's hand touching the steering wheel, and an electronic control unit that controls the lateral direction of the vehicle. In lateral control, the electronic control unit controls the steering operation actuator so that the vehicle laterally moves to the right when a hand touches the right portion of the steering wheel, and when the hand touches the left portion of the steering wheel. In this case, the steering operation actuator is controlled so that the vehicle laterally moves to the left.

Abstract: Offset control of offsetting a traveling position of a vehicle to increase a lateral distance from an approaching vehicle in an adjacent lane is actuated. When the offset control is actuated, an index value that is decided from an actuation history of the offset control and in which a higher weight is given to an actuation history of the offset control in the recent past than to an actuation history of the offset control in the distant past is calculated. As the index value, the actuation frequency of the offset control in a most recent predetermined time may be calculated. Moreover, an offset amount when the offset control is executed is changed in accordance with the index value.