DRIVING ASSISTANCE DEVICE

Provided is a driving assistance device in which: object detection processing of detecting a position and a type of an object around a vehicle is performed; a vehicle-occupied area that indicates an area occupied by the vehicle with respect to a position of the vehicle and has different shapes according to the type of the object is disposed on a map; the position of the object is specified on the map; a positional relationship between the vehicle-occupied area and the object on the map is specified; and driving assistance of the vehicle relative to the object is performed when the positional relationship satisfies a predetermined assistance start condition.