A driving assistance device for a vehicle includes a traveling environment recognizer, a parking space detector, an evaluation value calculator, and a parking space setter. The traveling environment recognizer is configured to recognize traveling environment information related to an outside of the vehicle. The parking space detector is configured to, in a case where the vehicle has entered a parking lot, detect one or more parking spaces available to the vehicle based on the traveling environment information. The evaluation value calculator is configured to calculate one or more evaluation values for the one or more parking spaces, each of the one or more evaluation values including an exit hindrance factor as an evaluation item. The parking space setter is configured to select, with priority, a parking space for parking the vehicle from among the one or more parking spaces. The evaluation value of the parking space is relatively high.