A driving assistance device displaying a condition around a vehicle on a display unit includes: a storage device storing an external shape of the vehicle; an object detection device detecting a position of an object around the vehicle and an external shape of a vehicle side of the object; a movement information acquiring device acquiring movement information relating to a direction and an amount of movement of the vehicle; a relative position estimating device estimating a relative position of the object to the vehicle based on the position of the object and the movement information; an image generating device generating a top-view image of the vehicle and the object viewed from above the vehicle based on the external shape of the vehicle, the external shape of the object, and the relative position of the object to the vehicle; and a display device displaying the top-view image on the display unit.