Driving Assistance Device

A driving assistance device that executes automatic steering such that, when a vehicle is reversing, the vehicle tracks back along a trace formed in forward traveling. The device includes: a trace estimator that estimates the trace based on a vehicle speed and a steering angle in forward traveling of the vehicle; a target steering angle calculator that calculates a target steering angle based on a positional relationship between a reference point and a target point, the reference point corresponding to a current position of the vehicle, the target point being positioned on the trace and having a predetermined value of distance from the reference point; an automatic steering unit that automatically operates a steering; and a vehicle speed calculator that calculates the vehicle speed based on a rotating speed of a steerable wheel.