Driving assistance device

A driving assistance device comprising:

• a vehicle surrounding image acquisition unit configured to acquire a captured image obtained by capturing an image of surroundings of a vehicle or an image obtained by processing the captured image, as a vehicle surrounding image in which the surroundings of the vehicle are visually recognized from a set viewpoint;
• an object detection unit configured to detect an object of attention, which is an object present around the vehicle and requiring attention for the vehicle;
• a model image acquisition unit configured to acquire a model image indicating an appearance of the object of attention;
• an assistance image generation unit configured to generate an assistance image in which the model image is synthesized with the vehicle surrounding image according to a position of the object of attention;
• and
• an image display unit configured to display the assistance image on a display device, wherein
• the image display unit displays the vehicle surrounding image excluding the model image such that a luminance difference or a contrast ratio with the model image included in the assistance image increases in a stepwise manner as a distance from the viewpoint increases.