A drive assist device according to an embodiment is provided with a steering control unit for controlling the steering angle of a wheel of a vehicle when the vehicle is being switched from a first state which is one of two states among a forward-moving state and a rearward-moving state to a second state which is the other of the vehicle states. When the steering angle is being changed from a first steering angle on one side of the neutral position to a second steering angle on the other side of the neutral position, the steering control unit controls the steering angle so that the steering angle starts changing from the first steering angle to the second steering angle before the vehicle state is in the second state and so that the steering angle changes from a third steering angle between the first steering angle and the second steering angle to the second steering angle when the vehicle state is in the second state.
