A safety-drive assistance device for assisting a driver in driving a vehicle under traffic environment, said vehicle having a first camera for taking an image of an outside of said vehicle, and a second camera for taking an image of an inside of said vehicle, comprising: a traffic environment detecting unit operable to detect an existence or a state of a predetermined object from said image taken by said first camera; a watched target judging unit operable to judge a watched target among the objects, to which said driver pays attention for safety driving, a visual-line direction detecting unit operable to detect a direction of a visual line of said driver on the basis of said image of two eyes or one eye of said driver taken by said second camera; and a visual recognition judging unit for making a judgment whether said driver visually recognizes said watched target or not, a non-safety recognition judging unit operable to judge whether said driver recognizes non-safety or not on the basis of the result of said judgement made by the visual recognition judging unit, a presentation unit operable to present information corresponding to said watched target when said non safety recognition judgment unit judges that said driver does not recognize non safety, characterized in that said visual recognition judging unit is: operable to calculate a first vector of a moving pattern, during a predetermined period, regarding said watched target mapped on a two dimensional space of X-Y axes crossed by a line between the position of an eye of said driver and said watched target; operable to calculate a second vector of a moving pattern, during said predetermined period, of a crossed point of said two dimensional space with said visual line of said driver detected by said visual-line direction detecting unit; and operable to make said judgement based on an inner product of said first vector with said second vector and a magnitude of said first vector. a traffic environment detecting unit operable to detect an existence or a state of a predetermined object from said image taken by said first camera; a watched target judging unit operable to judge a watched target among the objects, to which said driver pays attention for safety driving, a visual-line direction detecting unit operable to detect a direction of a visual line of said driver on the basis of said image of two eyes or one eye of said driver taken by said second camera; and a visual recognition judging unit for making a judgment whether said driver visually recognizes said watched target or not, a non-safety recognition judging unit operable to judge whether said driver recognizes non-safety or not on the basis of the result of said judgement made by the visual recognition judging unit, a presentation unit operable to present information corresponding to said watched target when said non safety recognition judgment unit judges that said driver does not recognize non safety, characterized in that said visual recognition judging unit is: operable to calculate a first vector of a moving pattern, during a predetermined period, regarding said watched target mapped on a two dimensional space of X-Y axes crossed by a line between the position of an eye of said driver and said watched target; operable to calculate a second vector of a moving pattern, during said predetermined period, of a crossed point of said two dimensional space with said visual line of said driver detected by said visual-line direction detecting unit; and operable to make said judgement based on an inner product of said first vector with said second vector and a magnitude of said first vector. operable to calculate a first vector of a moving pattern, during a predetermined period, regarding said watched target mapped on a two dimensional space of X-Y axes crossed by a line between the position of an eye of said driver and said watched target; operable to calculate a second vector of a moving pattern, during said predetermined period, of a crossed point of said two dimensional space with said visual line of said driver detected by said visual-line direction detecting unit; and operable to make said judgement based on an inner product of said first vector with said second vector and a magnitude of said first vector.