Provided is a driving assistance device which enables a driver to intuitively determine the relationship between the upper boundary line and the lower boundary line of an anticipated trajectory of travel that is displayed in three dimensions. The driving assistance device is provided with: an image processing device (3) that superimposes a three-dimensional anticipated trajectory of travel (30) of a vehicle, which is read off from a non-volatile memory (4), onto an image captured outside of the vehicle inputted from a capture device (7), and outputs the result to an external display device (12); and a control device (5) which controls the orientation of the three-dimensional anticipated trajectory of travel (30) that is superimposed by the image processing device (3) on the basis of a steering angle signal inputted from a steering sensor (10).