A vehicle travelling control apparatus configured to be installed at an own vehicle comprising - a localization unit configured to determine the actual position of the own vehicle; - an area prediction unit comprising a meeting area prediction unit and a branching area prediction unit, the area prediction unit configured to receive map information; - an object detection unit which is configured to receive information from a vehicle surroundings observation unit and to detect an object in the surroundings of the own vehicle based on said received data; - a position matching unit configured to determine whether an object detected by the object detection unit and the own vehicle could meet within an area at an intersection ahead of the own vehicle, said area being set as meeting area by the meeting area prediction unit; - an object behavior prediction unit configured to predict a future behavior of the detected object if the position matching unit estimated that a collision could happen in said meeting area; and - a vehicle control unit which decides about adapting a travelling plan of the own vehicle based on the predicted future behavior of the detected object, - wherein the meeting area prediction unit is configured to set said meeting area and the branching area prediction unit is configured to set a branching area ahead of a merging area in the travelling direction of the detected object and in which the detected object can change its travelling path before entering the meeting area; Said vehicle control apparatus being characterised in that - the object behavior prediction unit is configured to apply a normal prediction mode if the detected object is outside said branching area and a detailed prediction mode if the detected object is within said branching area, and wherein, - in the normal prediction mode, the object behavior prediction unit is configured to use a predetermined number of features of the detected object for predicting the future behavior of the detected object, including at least one of the features speed of the detected object, direction of movement of the detected object and shape of the detected object, and, in the detailed prediction mode, to use more features of the detected object than in the normal prediction mode for predicting the future behavior of the detected object. - a localization unit configured to determine the actual position of the own vehicle; - an area prediction unit comprising a meeting area prediction unit and a branching area prediction unit, the area prediction unit configured to receive map information; - an object detection unit which is configured to receive information from a vehicle surroundings observation unit and to detect an object in the surroundings of the own vehicle based on said received data; - a position matching unit configured to determine whether an object detected by the object detection unit and the own vehicle could meet within an area at an intersection ahead of the own vehicle, said area being set as meeting area by the meeting area prediction unit; - an object behavior prediction unit configured to predict a future behavior of the detected object if the position matching unit estimated that a collision could happen in said meeting area; and - a vehicle control unit which decides about adapting a travelling plan of the own vehicle based on the predicted future behavior of the detected object, - wherein the meeting area prediction unit is configured to set said meeting area and the branching area prediction unit is configured to set a branching area ahead of a merging area in the travelling direction of the detected object and in which the detected object can change its travelling path before entering the meeting area; - the object behavior prediction unit is configured to apply a normal prediction mode if the detected object is outside said branching area and a detailed prediction mode if the detected object is within said branching area, and wherein, - in the normal prediction mode, the object behavior prediction unit is configured to use a predetermined number of features of the detected object for predicting the future behavior of the detected object, including at least one of the features speed of the detected object, direction of movement of the detected object and shape of the detected object, and, in the detailed prediction mode, to use more features of the detected object than in the normal prediction mode for predicting the future behavior of the detected object.