US Patent 10421394 Driving assistance device, and storage medium

A driving assistance device for assisting driving a vehicle includes a non-congested state calculation unit and an intent notification control unit. The non-congested state calculation unit is configured to calculate a non-congested state of a plurality of dynamic obstacles around the vehicle. The intent notification control unit is configured to control a notification device such that a notification of intent of the vehicle to pass is performed based on the non-congested state calculated by the non-congested state calculation unit after the vehicle has decelerated or stopped.