Vehicle control apparatus

A vehicle control apparatus, comprising:

• at least one sensor which is configured to acquire object information on objects in a surrounding area around an own vehicle;
• and
• an electronic control unit which is configured to execute a collision avoiding control of avoiding collision of the own vehicle with the object when the electronic control unit determines, based on the object information, that a predetermined execution condition that the own vehicle is going to collide with the object, becomes satisfied,
• the collision avoiding control including:
• a steering control of changing a steering angle of the own vehicle to move the own vehicle along a target route set to avoid collision of the own vehicle with the object;
• and
• a braking force control of applying braking force to the own vehicle so as to realize a target deceleration,
• the electronic control unit is configured to:
• terminate executing the steering control and decrease the target deceleration at a first rate to terminate execution of the braking force control when a predetermined steering termination condition that the collision of the own vehicle with the object has been avoided by the steering control, becomes satisfied;
• and
• terminate executing the steering control and decrease the target deceleration at a second rate to terminate the execution of the braking force control when a predetermined cancelation condition that a driver of the own vehicle carries out a driving maneuver, becomes satisfied, and
• the second rate is greater than the first rate.