Vehicle travel control apparatus

A vehicle travel control apparatus configured to control a travel behavior of a vehicle including an actuator for traveling, the vehicle being configured to travel in a self-drive mode with a self-drive capability enabled and in a manual drive mode with the self-drive capability disabled,

• the vehicle travel control apparatus comprising:
• a road surface condition detector configured to detect a road surface condition;
• a drive mode instruction switch configured to instruct the manual drive mode or the self-drive mode;
• and
• an electric control unit having a microprocessor and a memory, wherein
• the memory is configured to store a driving characteristic of a driver during traveling in the self-drive mode, and
• the microprocessor is configured to perform:
• generating an action plan including a target path of the vehicle;
• controlling the actuator so that the vehicle travels in self-driving in accordance with the action plan generated in the generating,
• the generating including restricting a target value of a physical quantity for traveling of the vehicle included in the action plan, based on the road surface condition detected by the road surface condition detector and the driving characteristic stored in the memory, in the self-drive mode after a switching from the manual drive mode to the self-drive mode is instructed by the drive mode instruction switch, and
• the restricting including, in the self-drive mode after the switching, restricting the target value based on the driving characteristic stored in the memory and a first road surface condition detected by the road surface condition detector at a time when the switching is instructed, and thereafter, when a change from the first road surface condition to a second road surface condition is detected by the road surface condition detector, restricting the target value based on the second road surface condition without using the driving characteristic stored in the memory.