DRIVING ASSISTANCE DEVICE AND DRIVING ASSISTANCE METHOD

A sensor acquisition unit acquires an output result of a sensor mounted in a vehicle. An arithmetic unit uses a machine learning algorithm in which the output result of the sensor acquired by the sensor acquisition unit is set as an input, to calculate an inference result for controlling the vehicle. A degree of reliability estimation unit determines the degree of similarity between the output result acquired by the sensor acquisition unit and training data which has been used for learning of the machine learning algorithm, and estimates the degree of reliability of the inference result calculated by the arithmetic unit on the basis of the degree of similarity. A control output unit adds the degree of reliability estimated by the degree of reliability estimation unit to the inference result calculated by the arithmetic unit, and outputs the inference result with the degree of reliability as vehicle control information.