Driving assistance device and driving assistance method

A driving assistance device for a mobile object, the mobile object including a first sensor that detects a target present in the surroundings of the mobile object, the driving assistance device comprising:

• a collision prediction unit configured to predict presence or absence of a collision between the target and the mobile object;
• and
• a braking instruction unit configured to
• cause a braking force to act on the mobile object in response to the collision between the target and the mobile object being predicted;
• and
• cause the braking force to continuously act on the mobile object until a position of the target becomes at a rear of the mobile object in response to the target detected becoming undetectable by the first sensor in a predetermined region near the first sensor.

A driving assistance method for a mobile object, the mobile object including a first sensor that detects a target present in surroundings of the mobile object, the driving assistance method comprising:

• predicting presence or absence of a collision between the target and the mobile object;
• causing a braking force to act on the mobile object in response to the collision between the target and the mobile object being predicted;
• and
• causing the braking force to continuously act on the mobile object until a position of the target becomes at a rear of the mobile object in response to the target detected becoming undetectable by the first sensor in a predetermined region near the first sensor.