I don't know what you building, but in the older electric crane/wench controllers they just use two relays that the coil for the other relay goes through the normally closed when not energized contacts. This direction interlock circuit ensures protects fron short circuit conditions when swapping the volage around on a dc motor. Internally they have dynamic braking, but in your case, where you not current braking the motor, you could use an extra pair of relays they call delay on relays. you would put these after the controller relays (with direction interlock) and before the motor contractors.
I would also be aware of arcing at the motor contacts, and arc suppression should be looked at. Mostly, this is just at the main motor contacts where you would get a special relay that has a arc suppressor magnet in, or in some cases, gluing a small neodymium magnet on the case of the relay is sufficient enough to bend out the arc when it happens (if you can't get one small enough that has this protection) .
Now these days its better to use solid state as the longevity of these old relay based systems were never good.