US Patent 11318963 Vehicle control apparatus, vehicle, and vehicle control method

A vehicle control apparatus is provided. The vehicle control apparatus can obtain periphery information of a vehicle and perform following control including steering and acceleration/deceleration of the vehicle. In a case in which a front vehicle which is to be a following target does not satisfy a specific condition not including a speed condition, the vehicle control apparatus performs at least one of: lowering an automation level; and requesting a driver of the vehicle to perform a predetermined task which is not requested to the driver in a case in which the front vehicle satisfies the specific condition.