This driving assistance device (1) 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, 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.
DRIVING ASSISTANCE DEVICE