Driving assist device

A driving assist device comprising:

• a traveling environment information acquisition unit configured to acquire traveling environment information that is information on a traveling environment ahead of a vehicle;
• an intersection determination unit configured to determine presence of an intersection based on the traveling environment information acquired by the traveling environment information acquisition unit;
• a vehicle position information acquisition unit configured to estimate a vehicle position of the vehicle;
• a predicted travel path setting unit configured to, when the intersection determination unit determines that the intersection is present, set a predicted travel path at a time when the vehicle enters the intersection based on vehicle behavior before entering the intersection, the vehicle behavior being obtained from a change over time in information on the vehicle position acquired by the vehicle position information acquisition unit;
• a blinker signal acquisition unit configured to acquire a blinker signal indicating a left turn or a right turn;
• a traffic division information acquisition unit configured to acquire traffic division information of a lane in which the vehicle is traveling on a basis of the traveling environment information acquired by the traveling environment information acquisition unit;
• a determination unit configured to determine whether directions indicated by three factors match each other, the three factors being the traffic division information acquired by the traffic division information acquisition unit, the blinker signal acquired by the blinker signal acquisition unit, and the predicted travel path predicted by the predicted travel path setting unit;
• and
• a notifier configured to, when the determination unit determines that directions indicated by two factors of the three factors match each other and a mismatch occurs between the directions indicated by the two factors and a direction indicated by a remaining factor excluding the two factors of the three factors, issue a notification about the mismatch of the direction indicated by the remaining factor.