US Patent 11597400 Vehicle control apparatus, vehicle, and vehicle control method

A vehicle control apparatus, which controls a vehicle having a plurality of driving modes, includes a travel control section that performs travel control of the vehicle based on vicinity information; a limit value determining section that determines a deceleration limit value used when the travel control is performed, according to the driving mode; and a braking control section that performs braking control based on the vicinity information, such that the vehicle decelerates with a deceleration that does not exceed the determined deceleration limit value; wherein the limit value determining section sets the deceleration limit value to a first limit value when the vehicle is driven in a first driving mode, and sets the deceleration limit value to a second limit value higher than the first limit value, when the vehicle is driven in a second driving mode that has a higher degree of automation than the first driving mode.