Driving assistance device, driving assistance method, and program

A driving assistance method comprising, by a computer:

• recognizing a surrounding situation of a vehicle;
• controlling one of or both acceleration/deceleration and steering of the vehicle;
• determining a driving mode in which the vehicle is caused to travel with any of a plurality of kinds of driving assistance imposing different tasks on a driver;
• determining whether or not the driver is responding to the task;
• activating a warning in a case where it is determined that the driver is not responding to the task;
• and
• transmitting information related to a behavior of the driver at a predetermined time before and/or after the warning is activated along with warning information to an information terminal used by a specific person associated with the driver.

A program that causes a computer to

• recognize a surrounding situation of a vehicle;
• control one of or both acceleration/deceleration and steering of the vehicle;
• determine a driving mode in which the vehicle is caused to travel with any of a plurality of kinds of driving assistance imposing different tasks on a driver;
• judge whether or not the driver is responding to the task;
• activate a warning in a case where it is determined that the driver is not responding to the task;
• and
• transmit information related to a behavior of the driver at a predetermined time before and/or after the warning is activated along with warning information to an information terminal used by a specific person associated with the driver.