Drive assistance device

A drive assistance device, comprising:

• a memory configured to store a program;
• and
• a processor configured to execute the program to:
• perform automatic brake control when it is determined that a predetermined automatic stop condition is satisfied, the automatic brake control being control in which a braking force is applied to a vehicle to automatically stop the vehicle;
• perform brake hold control such that the vehicle is stopped by the automatic brake unit, the brake hold control being control in which the braking force is applied to the vehicle to keep the vehicle stopped;
• cancel the brake hold control when it is determined that a predetermined cancel condition is satisfied during the brake hold control;
• obtain surroundings information, the surroundings information being information indicating a situation around the vehicle;
• obtain maneuver information, the maneuver information being information on a driving maneuver performed by a driver of the vehicle;
• determine, based on the obtained surroundings information and the obtained maneuver information, whether the driving maneuver performed by the driver during the brake hold control is appropriate for the situation around the vehicle;
• and
• even when the predetermined cancel condition is satisfied, prohibit cancelling of the brake hold control as long as the driving maneuver is determined to be inappropriate.

A drive assistance device, comprising:

• a memory configured to store a program;
• and
• a processor configured to execute the program to:
• perform an automatic brake when a first predetermined condition is satisfied;
• perform a brake hold to keep the vehicle stopped when the vehicle stops by the automatic brake;
• obtain a first information indicating a situation around the vehicle;
• obtain a second information of a driving maneuver by a driver of the vehicle;
• during the brake hold, determine whether the driving maneuver by the driver is appropriate for the situation around the vehicle based on the first information and the second information;
• and
• cancel the brake hold when a second predetermined condition is satisfied during the brake hold unless the driving maneuver by the driver is not appropriate.