Provided is a driving assistance system including a storage device having a program stored therein and a hardware processor, wherein the hardware processor executes the program stored in the storage device, to thereby recognize an object which is present outside of a vehicle on the basis of a detection result of at least one of a radar device and an imaging device which are mounted in the vehicle, perform driving assistance for the vehicle on the basis of a recognition result, and determine a degree of matching between a portion of a contour line of the object and a road partition line and suppress an operation of the driving assistance in a case where the degree of matching is equal to or greater than a threshold.