Patent ID: 8099232

Claim:
A vehicle control device which performs braking control of a vehicle, comprising: a priority setting unit determining, when a possibility that a self-vehicle and another vehicle cross each other at an intersection in front of the self-vehicle is detected, a priority for each of the self-vehicle and said another vehicle with respect to access to the intersection, wherein the priority setting unit determines the priority for each of the self-vehicle and said another vehicle in accordance with a relative position between the self-vehicle and said another vehicle and a relationship in vehicle speed between the self-vehicle and said another vehicle; and a braking control unit performing the braking control of the self-vehicle in response to the priority setting unit determining that the self-vehicle has no priority over said another vehicle with respect to access to the intersection, the braking control including calculation and performance of braking in a precise quantity such that the self-vehicle continues moving and enters the intersection a predetermined amount of time after said another vehicle passes through the intersection, wherein, the calculation of braking in the precise quantity such that the self-vehicle continues moving and enters the intersection the predetermined amount of time after said another vehicle passes through the intersection includes determining a braking force Fb in accordance with the formula Fb=K/(T 1 +T 2 ) n where K is a positive constant, T 1 is an estimated time for the self-vehicle to pass through the intersection, T 2 is an estimated time for said another vehicle to pass through the intersection, and n is a positive real number.