Driving assistance device

A driving assistance device which is mounted in a moving vehicle having a variable wheelbase length and assists driving of the moving vehicle, the driving assistance device comprising:

• a wheelbase length information acquisition unit which acquires current wheelbase length information relating to the variable wheelbase length of the moving vehicle;
• an obstacle information acquisition unit which acquires obstacle information relating to an obstacle around the moving vehicle;
• and
• a deceleration control unit which performs deceleration control of the moving vehicle on the basis of the obstacle information acquired by the obstacle information acquisition unit,
• wherein the deceleration control unit changes the deceleration control depending on the wheelbase length information acquired by the wheelbase length information acquisition unit;
• wherein the deceleration control unit performs the deceleration control on the basis of a deceleration control map which includes a plurality of areas set around the moving vehicle and deceleration patterns set for the plurality of areas,
• when an obstacle presence area, where the obstacle is present from among the plurality of areas, is detected on the basis of the obstacle information, the deceleration control is performed with the deceleration pattern in the detected obstacle presence area,
• the plurality of areas in the deceleration control map are changed depending on the wheelbase length information,
• the moving vehicle includes a mechanism which is deformed by varying a wheelbase length, and
• the plurality of areas are constituted by dividing an obstacle detection zone which is an area on a route in which the moving vehicle is driven.