A driving assistance method performed by a driving assistance device, including a sensor, a controller, a high definition map, a travel control device, and an actuator, the method comprising: detecting, by the sensor, a first other vehicle entering an intersection on a first route where a host vehicle is traveling from a second route different from the first route; judging, by the controller, whether or not the course of the first other vehicle will obstruct the course of the host vehicle; judging, by the controller, when (S5: N) it is judged that the course of the course of the first other vehicle will not obstruct the course of the host vehicle, whether or not there is an obstacle on the course of the first other vehicle; predicting, by the controller, when (S6: Y) it is judged that there is an obstacle on the course of the first other vehicle, whether or not the first other vehicle will stop in the intersection, and predicting a stop position of the first other vehicle when the first other vehicle is predicted to stop in the intersection; characterized by calculating, by the controller, a minimum distance of a first gap between a vehicle body of the first other vehicle and a surrounding object around the first other vehicle or between the vehicle body of the first other vehicle and a road edge of a travel lane of the first other vehicle when the first other vehicle stops at the predicted stop position; predicting (S9, S12, S18), by the controller, according to the calculated minimum distance and a vehicle width of a second other vehicle, which is a following vehicle behind the first other vehicle, whether or not the second other vehicle may slip through the first gap from behind the first other vehicle, and controlling, by the travel control device, the actuator to advance the host vehicle to travel to a planned route through the intersection, when it is predicted that there is no possibility for the second other vehicle to slip through the first gap from behind the first other vehicle, and controlling, by the control device, the actuator to stop the host vehicle when it is predicted that there is the possibility for the second other vehicle to slip through the first gap from behind the first other vehicle. detecting, by the sensor, a first other vehicle entering an intersection on a first route where a host vehicle is traveling from a second route different from the first route; judging, by the controller, whether or not the course of the first other vehicle will obstruct the course of the host vehicle; judging, by the controller, when (S5: N) it is judged that the course of the course of the first other vehicle will not obstruct the course of the host vehicle, whether or not there is an obstacle on the course of the first other vehicle; predicting, by the controller, when (S6: Y) it is judged that there is an obstacle on the course of the first other vehicle, whether or not the first other vehicle will stop in the intersection, and predicting a stop position of the first other vehicle when the first other vehicle is predicted to stop in the intersection; characterized by calculating, by the controller, a minimum distance of a first gap between a vehicle body of the first other vehicle and a surrounding object around the first other vehicle or between the vehicle body of the first other vehicle and a road edge of a travel lane of the first other vehicle when the first other vehicle stops at the predicted stop position; predicting (S9, S12, S18), by the controller, according to the calculated minimum distance and a vehicle width of a second other vehicle, which is a following vehicle behind the first other vehicle, whether or not the second other vehicle may slip through the first gap from behind the first other vehicle, and controlling, by the travel control device, the actuator to advance the host vehicle to travel to a planned route through the intersection, when it is predicted that there is no possibility for the second other vehicle to slip through the first gap from behind the first other vehicle, and controlling, by the control device, the actuator to stop the host vehicle when it is predicted that there is the possibility for the second other vehicle to slip through the first gap from behind the first other vehicle.