A vehicle travelling control device comprising: a target travelling track generation unit which generates a target travelling track of an own vehicle; a moving object prediction track generation unit which generates a prediction track of a moving object around the own vehicle; a track intersection determination unit which determines whether the prediction track and the target travelling track intersect; a travelling plan unit which plans a speed and a travelling track of the own vehicle based on the track intersection determination unit; an environment change prediction unit which acquires current signal information, attributes of the moving object, a road shape, and a position relation of the moving object around the own vehicle and the own vehicle using cameras, predicts a future change of the signal information using the cameras or acquires the future change using communication, and predicts a future environment change causing a speed change of the moving object; characterized by a maximum speed estimation unit which estimates a maximum speed of the moving object, on the basis of the attributes of the moving object; and a speed change prediction unit which predicts that the moving object moves at the maximum speed from a point of time of the environment change, when the moving object moves at the maximum speed from the point of time of the environment change and a reachable range is equal to or more than a specific ratio of a road width at an intersection point with the own vehicle until an intersection prohibition time with the own vehicle, and predicts that a movement speed of the moving object decreases or the moving object stops from the point of time of the environment change, when the reachable range is not equal to or more than the specific ratio, wherein the travelling plan unit performs modification of a travelling plan changing at least one of the speed and the travelling track of the own vehicle, when a collision of the own vehicle and the moving object is predicted on the basis of information predicted by the speed change prediction unit, and determines command values of a steering angle and acceleration and deceleration, on the basis of the travelling plan and own vehicle information. a target travelling track generation unit which generates a target travelling track of an own vehicle; a moving object prediction track generation unit which generates a prediction track of a moving object around the own vehicle; a track intersection determination unit which determines whether the prediction track and the target travelling track intersect; a travelling plan unit which plans a speed and a travelling track of the own vehicle based on the track intersection determination unit; an environment change prediction unit which acquires current signal information, attributes of the moving object, a road shape, and a position relation of the moving object around the own vehicle and the own vehicle using cameras, predicts a future change of the signal information using the cameras or acquires the future change using communication, and predicts a future environment change causing a speed change of the moving object; characterized by a maximum speed estimation unit which estimates a maximum speed of the moving object, on the basis of the attributes of the moving object; and a speed change prediction unit which predicts that the moving object moves at the maximum speed from a point of time of the environment change, when the moving object moves at the maximum speed from the point of time of the environment change and a reachable range is equal to or more than a specific ratio of a road width at an intersection point with the own vehicle until an intersection prohibition time with the own vehicle, and predicts that a movement speed of the moving object decreases or the moving object stops from the point of time of the environment change, when the reachable range is not equal to or more than the specific ratio, wherein the travelling plan unit performs modification of a travelling plan changing at least one of the speed and the travelling track of the own vehicle, when a collision of the own vehicle and the moving object is predicted on the basis of information predicted by the speed change prediction unit, and determines command values of a steering angle and acceleration and deceleration, on the basis of the travelling plan and own vehicle information.