A driving assistance device for a vehicle includes an object detection section for detecting objects present on the periphery of an own vehicle and determines whether the own vehicle is located within a predetermined region from an intersection. The driving assistance device extracts, from the detected objects, a first moving object which may come into collision with the own vehicle as the own vehicle enters the intersection. The driving assistance device extracts, from the detected objects, a second moving object crossing a road on which the first moving object is traveling between the own vehicle and the first moving object, and acquires motion information of the second moving object crossing the intersection. The driving assistance device determines that the own vehicle can enter the intersection when acquiring the motion information of the second moving object.