BRAKING ASSISTANCE DEVICE AND BRAKING ASSISTANCE METHOD FOR VEHICLE

A braking assistance device for a vehicle includes an object sensing unit for sensing an object, an intersection entry determination unit for determining entry of a host vehicle into an intersection, and a braking assistance execution unit for executing braking assistance by a braking device so as to avoid or mitigate collision with the object. If the host vehicle is determined to be entering the intersection, the braking assistance execution unit determines, based on a sensing result from the object sensing unit, a traffic environment at the intersection, and controls execution of the braking assistance in accordance with the determined traffic environment.