The disclosed processing device for assisting the driving of a vehicle is characterized by being provided with a first data acquisition unit that acquires back-left image data, a second data acquisition unit that acquires back-right image data, and a lane divergence detection unit having a lane divergence detection state and a lane divergence detection/suppression state; and is further characterized by the aforementioned lane divergence detection unit, in the aforementioned lane divergence detection state, estimating a first distance between a left boundary and the aforementioned vehicle on the basis of the aforementioned back-left image data, estimating a second distance between a right boundary and the aforementioned vehicle on the basis of the aforementioned back-right image data, and, when either or both is the case of the aforementioned first distance being at or below a first baseline value derived using a predetermined method or the aforementioned second distance being at or below a second baseline value derived using a predetermined method, executing a first signal generation operation that generates a first signal for at least one of: providing a warning; controlling at least one of a steering device and a braking device; and transmitting a signal outside the aforementioned vehicle.
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