Vehicle control apparatus

A vehicle control apparatus comprising:

• at least one processor,
• wherein the at least one processor is configured to:
• recognize an environment in a vicinity of a vehicle;
• and
• execute a lane change of the vehicle based on a recognition result,
• wherein the at least one processor is further configured to control an output of proposal information of a lane change of the vehicle to a driver of the vehicle,
• wherein the at least one processor is further configured to execute a lane change of the vehicle based on the output proposal information in response to a first operation in which the driver of the vehicle presses a button provided on a steering apparatus,
• wherein the at least one processor is further configured to execute a lane change of the vehicle not based on the output proposal information in response to the first operation,
• wherein in the lane change of the vehicle not based on the proposal information, the at least one processor is further configured to perform a lane change in which, when there is a first lane adjacent to a side in a specific direction with respect to a lane in which the vehicle travels, the vehicle is moved to the first lane, and perform a lane change in which the vehicle is moved to a second lane adjacent to a side opposite to the specific direction with respect to the lane in which the vehicle travels when the first operation is performed in a case where there is no first lane, and
• wherein the first lane is predetermined, and is prioritized over the second lane whenever the lane change of the vehicle not based on the proposal information is performed.