DRIVING ASSISTANCE DEVICE

Provided is a driving assistance device in which: object detection processing of detecting a position and a type of an object (15) around a vehicle (2) is performed; a vehicle-occupied area (41, 42) that indicates an area occupied by the vehicle (2) with respect to a position of the vehicle (2) and has different shapes according to the type of the object is disposed on a map (45); the position of the object (15) is specified on the map; a positional relationship between the vehicle-occupied area (41, 42) and the object (15) on the map is specified; and driving assistance of the vehicle (2) relative to the object (15) is performed when the positional relationship satisfies a predetermined assistance start condition.