A vehicle driving assistance device includes a driving assistance controller and an acquisition portion. The driving assistance controller includes a signal information acquisition part, a remaining distance calculator, and a driving assistance information output portion. The acquisition portion acquires information on (i) a vehicular speed and remaining distance to the intersection of an intersecting-side vehicle travelling on an intersecting road that joins a main road at the intersection, (ii) an arrival time when the intersecting-side vehicle arrives at the intersection, or (iii) lighting period information of an intersecting-side traffic signal. The driving assistance controller updates lighting period information of a main-side traffic signal based on information acquired from a road-to-vehicle communication transceiver, and outputs driving assistance information based on the updated lighting period information.