A driving assistance device includes a driving state detection portion that detects a driving state of a vehicle by a driver; an environment detection portion that detects an environment in which the vehicle travels; an emotion detection portion that detects the driver's emotion or change in emotion; a characteristic estimation portion that estimates the drivers characteristic with respect to the vehicle on the basis of the driving state of the driver in the environment detected by the environment detection portion, and the driver's emotion or change in emotion during the driving; and a change portion that changes setting of various control in the vehicle on the basis of the driver's characteristic estimated by the characteristic estimation portion.