A walking assistance device includes: a base body a driving unit that moves the base body a distance detection unit that detects a distance from the base body to a user a safety distance range setting unit that set, as a safety distance range, a distance range from the base body to the user during safe walk of the user a walking state determination unit that determines whether or not the distance detected by the distance detection unit is out of the safety distance range and a control unit that controls the driving unit when the walking state determination unit determines that the distance is out of the safety distance range. The walking assistance device detects that the distance is narrower than a predetermined distance, wherein the driving unit is controlled when the approach determination unit detects that the distance is narrower than the predetermined distance.
