In a vehicle control device which performs braking control of a vehicle, a priority setting unit determines, 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 the other vehicle with respect to access to the intersection. A braking control unit performs, when the self-vehicle has no priority over the other vehicle with respect to access to the intersection, the braking control of the self-vehicle so that the self-vehicle enters the intersection after the other vehicle passes through the intersection.