Channel congestion has been an open challenge for vehicular networks due to the limited resource of communication channels. Explosion of channel access requests from a massive number of transmitter vehicles can exhaust bandwidth and then degrade transmission quality. The rapid drop of messages (because of the high bit error rate in the transmission congestion condition) can threaten the safety of connected vehicles. Maintaining congestion-free communications is then essential to improve the reliability for vehicular networks, including Cellular-V2X (C-V2X)-based cooperative intelligent transport systems and road-safety applications. In this work, we present a novel intelligent transmission control model, namely DEEPCUT, to automatically adjust the message broadcasting rate of a transmitter vehicle. DEEPCUT works based on a Double Deep Q-learning Networks with Prioritized Experience Relay framework. DEEPCUT encourages the transmitter vehicle to ( 1) reduce its broadcasting rate if the vehicle is maintaining a safe distance from its neighbors and (2) increase the rate if the vehicle is approaching the others at a high-risk distance, all done by using reward/punish strategies. The evaluation results show that DEEPCUT can cut up 16% redundant data while increasing 22% packet reception rate compared with baseline models, particularly in crowd vehicular communications. Our risk-based transmission control can be an excellent complement to address the congestion when the channel cannot satisfy every vehicle's resource requests. At best, the risk assessment-based approach in our congestion control method can provide a novel material to enhance Decentralized Congestion Control (DCC) for 5G V2X sidelink in the coming specifications.INDEX TERMS Vehicular network congestion, transmission control, reinforcement learning.