Asahina Yasuhiro served as a bushi during the late-Muromachi and Sengoku periods.  He was a retainer of the Imagawa clan and served as the lord of Kakegawa Castle in Tōtōmi Province.

Yasuhiro was born as the son of Asahina Yoshitoshi.  The Asahina family originated from the Asahina township in the Shida District of Suruga Province.

Yasuhiro served the Imagawa clan of Suruga Province.  During the Bunmei era (1469 to 1486), upon orders of Imagawa Yoshitada (the eighth head of the Suruga-Imagawa clan), Yasuhiro constructed Kakegawa Castle in the Sano District of Tōtōmi.

Yasuhiro maintained friendly relations with a contemporary renga master known as Sōchō.  On 1/21 of Eishō 8 (1511), Sōchō held a Buddhist ceremony to mark the death of Yasuhiro so it has been determined that Yasuhiro died on the first day of 1511.

According to one scholar, Yasuhiro’s daughter was a consort of Yoshitada’s lineal heir, Imagawa Ujichika, and may have given birth to Imagawa Yoshimoto.

There is a theory that Yasuhiro slandered a retainer of the Imagawa named Fukushima Masanari, causing trouble between Masanari and Ujichika which ultimately led to the demise of Masanari.  Under an alternative theory, Masanari was a fictional character devised in a later era.