Driving assistance device, vehicle, driving assistance method, and computer-readable storage medium

The invention provides a driving assistance device, a vehicle, a driving assistance method, and a computer readable storage medium, which improve usability of a vehicle having a driving assistance function. A vehicle-mounted driving assistance device according to one aspect of the present invention is provided with: a determination means for determining whether or not a driving assistance function can be used on the basis of the traveling environment of a vehicle; a notification unit that notifies a driver of the vehicle of guidance that recommends to use the driving assistance function when the determination unit determines that the driving assistance function can be used; a recording unit that records, as a reaction history, a reaction from the driver to the notification made by the notification unit; and a determination means for determining the manner of notification by the notification means on the basis of the reaction history recorded in the recording means. 本发明提供驾驶辅助装置、车辆、驾驶辅助方法以及计算机可读式存储介质，提高具备驾驶辅助功能