DRIVING ASSISTANCE DEVICE AND TRAFFIC SYSTEM

In the present invention, a guide line leading to a planned stop position includes: a first linear section including a reference mark disposed at a position which is a first distance from the plannedstop position; and a curve section continuing to the planned stop position side of the linear section. This driving assistance device comprises: a guide line detection unit that detects the guide line; a remaining distance acquisition unit that acquires the remaining distance to the planned stop position; and a braking control unit that controls deceleration of a vehicle. The guide line detectionunit detects the reference mark, the curvature of the guide line, and a curvature feature point. If the guide line detection unit has detected the reference mark, the remaining distance acquisition unit acquires the remaining distance on the basis of the position of the reference mark. If the guide line detection unit has detected the curvature feature point without detecting the reference mark, the remaining distance acqu