The invention provides a driving assistance device and a data collection system which can observe from the viewpoint of a traffic participant other than the driver of a vehicle and collect information of an error point where the vehicle feels danger. A driving assistance device is provided with a driver emotion estimation unit that estimates the emotion of a driver of a vehicle, a traffic participant emotion estimation unit that estimates the emotion of traffic participants in the surroundings of the vehicle, a storage unit that stores data of driver non-erroneous recognition locations at which the driver of the vehicle does not feel danger but the traffic participant feels danger with respect to the vehicle, and a notification control unit that notifies the driver of the stored driver non-erroneous recognition locations.
DRIVING ASSISTANCE DEVICE AND DATA COLLECTION SYSTEM