Driving assistance device, driving assistance system, driving assistance method, and automatically driven vehicle

In this driving assistance device, an image output unit outputs, to a display unit, image information including a host vehicle object indicating the host vehicle and marker objects indicating markers. An operation signal input unit receives a user operation signal for moving the host vehicle object to the position of a marker object, or the marker object to the position of the host vehicle object, in an image displayed on the display unit. When the operation signal is received, a command output unit outputs, to an automatic driving control unit for controlling automatic driving, a command corresponding to the display content in the marker object.