Vehicle control apparatus, vehicle, vehicle control method, and non-transitory computer-readable storage medium

A vehicle control method of a vehicle control apparatus that comprises

• a first control unit and a second control unit each configured to perform travel control of a vehicle,
• a first communication line configured to connect the first control unit and the second control unit,
• a second communication line configured to connect the first control unit and an operation unit configured to operate based on a control signal transmitted from one of the first control unit and the second control unit, and
• a third communication line configured to connect the operation unit and the second control unit, the vehicle control apparatus further comprising a fourth communication line configured to connect the first control unit and the operation unit, and
• wherein the vehicle control method to be executed by the first control unit comprises
• performing, in a case in which a communication state of the second communication line has changed, fallback control to restrict a travel control function of the vehicle,
• transmitting, in a case in which a detection unit detects driving takeover by a driver corresponding to the change in the communication state, a determination signal indicating a determination result of the driving takeover to the operation unit via the fourth communication line, and
• ending the fallback control in a case in which completion of the driving takeover is determined based on a control state of the vehicle in the fallback control.