This driving assistance device is provided with an inference unit (3) which infers a driver's state with regard to two axes, a sleepy-hyperaroused state evaluation axis and a comfortable-uncomfortable state evaluation axis, a five-senses impinging unit (12) which impinges on the five senses of the driver by means of multiple elements that control a person, and a control unit (4) which controls driving of the five-senses impinging unit (12) on the basis of the inference results with regard to the two axes of the driver's state, and which controls elements different from the previously controlled elements of the multiple elements.
DRIVING ASSISTANCE DEVICE