We Claim:
[Claim 1] A driving assistance device comprising:
a travel prediction unit to predict travel of an object existing around a mobile
body;
5 a failure detection unit to detect failure in a prediction of the travel by the
travel prediction unit;
a gaze determination unit to determine whether a driver of the mobile body has gazed at the object or not;
a collision prediction unit to predict a collision between the mobile body and 10 the object based on the prediction of the travel; and
a notification determination unit to determine whether notification that the collision prediction unit has predicted the collision between the mobile body and the object is to be given to the driver or not, based on whether the failure detection unit has detected the failure in the prediction or not and whether the gaze determination unit has 15 determined gaze at the object or not.
[Claim 2] The driving assistance device according to claim 1, wherein
the notification determination unit determines whether the notification is to be
given or not, based on time when the failure detection unit detected the failure in the
prediction and time when the gaze determination unit determined the gaze at the object.
20 [Claim 3] The driving assistance device according to claim 2, wherein
the notification determination unit determines that the notification is not to be
given, in case where the time when the gaze determination unit determined the gaze at
the object was posterior to the time when the failure detection unit detected the failure
in the prediction.
25 [Claim 4] The driving assistance device according to claim 2 or 3, wherein
20

the notification determination unit determines that the notification is to be
given, in case where the time when the gaze determination unit determined the gaze at
the object was prior to the time when the failure detection unit detected the failure in the
prediction.
5 [Claim 5] The driving assistance device according to any one of claims 1 to 4,
wherein
the failure detection unit detects the failure in the prediction of the travel in case where a Euclidean distance between a position of the object at time k+j predicted by the travel prediction unit at time k and a position of the object at the time k+j 10 predicted by the travel prediction unit at time k' different from the time k exceeds a threshold.
[Claim 6] The driving assistance device according to any one of claims 1 to 4,
wherein
the failure detection unit detects the failure in the prediction of the travel in 15 case where a Mahalanobis' generalized distance between a position of the object at time k+j predicted by the travel prediction unit at time k and a position of the object at the time k+j predicted by the travel prediction unit at time k' different from the time k exceeds a threshold.
[Claim 7] A driving assistance method comprising:
20 predicting, by a computer, travel of an object existing around a mobile body;
detecting, by the computer, failure in a prediction of the travel; determining, by the computer, whether a driver of the mobile body has gazed at the object or not;
predicting, by the computer, a collision between the mobile body and the 25 object based on the prediction of the travel; and
21

determining, by the computer, whether notification that the collision between
the mobile body and the object has been predicted is to be given to the driver or not,
based on whether the failure in the prediction of the travel has been detected or not and
whether gaze at the object has been determined or not.
5 [Claim 8] A driving assistance program that causes a computer to execute:
a travel prediction process of predicting travel of an object existing around a mobile body;
a failure detection process of detecting failure in a prediction of the travel in
the travel prediction process;
10 a gaze determination process of determining whether a driver of the mobile
body has gazed at the object or not;
a collision prediction process of predicting a collision between the mobile body and the object based on the prediction of the travel; and
a notification determination process of determining whether notification that 15 the collision between the mobile body and the object has been predicted in the collision prediction process is to be given to the driver or not, based on whether the failure in the prediction has been detected in the failure detection process or not and whether gaze at the object has been determined in the gaze determination process or not.
22