COLLISION AVOIDANCE ASSISTANCE DEVICE

A collision avoidance assistance device includes a road shape recognition unit that recognizes a road shape of a traveling road, a path estimation unit that estimates a path of the host vehicle based on the road shape, an obstacle situation recognition unit recognizes an obstacle situation surrounding the host vehicle including at least a relative position of the obstacle with respect to the host vehicle, an early avoidance assistance determination unit that determines a need for early avoidance assistance for avoiding collision between the host vehicle and the obstacle from a distance between the host vehicle and the obstacle on the path of the host vehicle based on the path of the host vehicle and the obstacle situation, and a collision avoidance assistance execution unit executes the early avoidance assistance in a case where the early avoidance assistance determination unit determines that the early avoidance assistance is needed.