Vehicle and control apparatus and control method of the same

A control apparatus of a vehicle, the apparatus comprising:

• a selection unit configured to select a travel state from a plurality of travel states based on external environment information;
• a switching unit configured to switch a travel state which is currently selected by the selection unit to another travel state;
• and
• a setting unit configured to set, based on at least one of an operation by the driver and/or information of the driver, a speed threshold for switching the travel state which is currently selected to the other travel state,
• wherein in a case in which a speed threshold of a second travel state which is currently selected is to be set lower than a normal speed threshold of the second travel state, the setting unit sets a speed threshold of a first travel state which is not currently selected to be lower than a normal speed threshold of the first travel state.

A method of controlling a vehicle that includes a storage unit configured to store an upper limit travel speed of each of a plurality of travel states which have different automation rates from each other, the method comprising:

• selecting one of the plurality of travel states;
• changing, based on at least one of an operation by a driver and/or information of the driver, an upper limit travel speed of a travel state which is currently selected;
• and
• changing, in accordance with the change in the upper limit travel speed of the travel state which is currently selected, an upper limit travel speed of a travel state which is not currently selected among the plurality of travel states.

A method of controlling a vehicle, the method comprising:

• selecting a travel state from a plurality of travel states based on external environment information;
• switching a travel state v which is currently selected to another travel state;
• and
• setting, based on at least one of an operation by the driver and/or information of the driver, a speed threshold for switching the travel state which is currently selected to the other travel state,
• wherein in a case in which a speed threshold of a second travel state which is currently selected is to be set lower than a normal speed threshold of the second travel state, a speed threshold of a first travel state which is not currently selected is set to be lower than a normal speed threshold of the first travel state.