A leaning vehicle, comprising: a brake assist control device, wherein the brake assist control device is mounted on a leaning vehicle body frame, the leaning vehicle body frame leaning rightward in a vehicle left-right direction when turning right and leaning leftward in the vehicle left-right direction when turning left, wherein the brake assist control device is configured to control an assisting braking force based on a margin obtained based on a relationship between an obstacle and the leaning vehicle and on a brake operation by a rider, wherein the brake assist control device is configured to acquire (i) at least one of a leaning angular speed which is a time change rate of a leaning angle of the leaning vehicle or a leaning angular acceleration which is a time change rate of the leaning angular speed of the leaning vehicle, (ii) the margin obtained based on the relationship between the obstacle and the leaning vehicle, and (iii) a brake operation amount which is an amount of a brake operation by the rider, and characterized by wherein the brake assist control device is configured to control the assisting braking force so that a first braking force, which is the maximum braking force generated in response to a first brake operation amount performed by the rider in a first scene, is larger than a second braking force, which is the maximum braking force generated in response to the first brake operation amount performed by the rider in a second scene, based on the at least one of the leaning angular speed or the leaning angular acceleration, the margin acquired based on the relationship between the obstacle and the leaning vehicle, and the brake operation amount performed by the rider, which have been acquired, wherein the first scene is a scene in which the rider deals with the obstacle by a braking force generated by a brake operation by the rider without changing a traveling direction of the leaning vehicle, and the second scene is a scene in which the rider deals with the obstacle by both a change of the traveling direction of the leaning vehicle and the braking force generated by the brake operation by the rider. a brake assist control device, wherein the brake assist control device is mounted on a leaning vehicle body frame, the leaning vehicle body frame leaning rightward in a vehicle left-right direction when turning right and leaning leftward in the vehicle left-right direction when turning left, wherein the brake assist control device is configured to control an assisting braking force based on a margin obtained based on a relationship between an obstacle and the leaning vehicle and on a brake operation by a rider, wherein the brake assist control device is configured to acquire (i) at least one of a leaning angular speed which is a time change rate of a leaning angle of the leaning vehicle or a leaning angular acceleration which is a time change rate of the leaning angular speed of the leaning vehicle, (ii) the margin obtained based on the relationship between the obstacle and the leaning vehicle, and (iii) a brake operation amount which is an amount of a brake operation by the rider, and characterized by wherein the brake assist control device is configured to control the assisting braking force so that a first braking force, which is the maximum braking force generated in response to a first brake operation amount performed by the rider in a first scene, is larger than a second braking force, which is the maximum braking force generated in response to the first brake operation amount performed by the rider in a second scene, based on the at least one of the leaning angular speed or the leaning angular acceleration, the margin acquired based on the relationship between the obstacle and the leaning vehicle, and the brake operation amount performed by the rider, which have been acquired, wherein the first scene is a scene in which the rider deals with the obstacle by a braking force generated by a brake operation by the rider without changing a traveling direction of the leaning vehicle, and the second scene is a scene in which the rider deals with the obstacle by both a change of the traveling direction of the leaning vehicle and the braking force generated by the brake operation by the rider.