Abstract: A driving assistance device (10) having a processor (12) that executes a process of detecting objects around a vehicle (1), wherein the processor is configured to execute following processes: obtaining first detection values outputted from a plurality of sonar sensors provided in the vehicle, second detection values indicating the state of the shift range, and third detection values corresponding to the steering angle of the steering device, controlling a notification device (20) that operates in conjunction with the first detection values and adjusting notification contents to be output, calculating the relative distance between the vehicle and the objects existing around the vehicle based on the first detection values, determining the traveling direction of the vehicle based on the second detected values, calculating priorities according to the sonar sensors individually based on the traveling direction and the steering angle, adjusting the notification contents according to level of the priorities.

Abstract: The processor controls the notification device to issue an alert when it detects an obstacle within a predetermined first alert target area extending rearward from the own vehicle in a first situation, where neither the tailgate TG nor the cargo protrudes beyond the rear end of the rear bumper RB. In a second situation, where a part of the opened tailgate TG or part of the cargo protrudes beyond the rear end of the rear bumper RB, the processor controls the notification device to issue an alert when an obstacle OB is detected within a second alert target area, which is extended or offset rearward from the first alert target area.