A driving assistance device for a vehicle comprising: an own vehicle position detection section for detecting a current position of an own vehicle on a map; an object detection section for detecting objects present on a periphery of the own vehicle; an intersection determination section for determining whether the own vehicle is located within a predetermined region from an intersection without traffic light where two or more roads intersect based on the current position detected by the own vehicle position detection section; a first moving object extraction section for extracting, from the objects detected by the object detection section, a first moving object which may come into collision with the own vehicle as the own vehicle enters the intersection when the intersection determination section determines that the own vehicle is located within the predetermined region from the intersection; a second moving object extraction section for extracting, from the objects detected by the object detection section, a second moving object crossing a road on which the first moving object is traveling between the own vehicle and the first moving object when the first moving object is extracted by the first moving object extraction section, and acquiring motion information of the second moving object crossing the intersection; and an intersection entry determination section for predicting a collision risk of the own vehicle with the first moving object based on the motion information of the second moving object crossing the intersection and determining whether the own vehicle can enter the intersection based on the predicted collision risk. an own vehicle position detection section for detecting a current position of an own vehicle on a map; an object detection section for detecting objects present on a periphery of the own vehicle; an intersection determination section for determining whether the own vehicle is located within a predetermined region from an intersection without traffic light where two or more roads intersect based on the current position detected by the own vehicle position detection section; a first moving object extraction section for extracting, from the objects detected by the object detection section, a first moving object which may come into collision with the own vehicle as the own vehicle enters the intersection when the intersection determination section determines that the own vehicle is located within the predetermined region from the intersection; a second moving object extraction section for extracting, from the objects detected by the object detection section, a second moving object crossing a road on which the first moving object is traveling between the own vehicle and the first moving object when the first moving object is extracted by the first moving object extraction section, and acquiring motion information of the second moving object crossing the intersection; and an intersection entry determination section for predicting a collision risk of the own vehicle with the first moving object based on the motion information of the second moving object crossing the intersection and determining whether the own vehicle can enter the intersection based on the predicted collision risk.