Vehicle control apparatus

A vehicle control apparatus, comprising:

• a sensor which detects own vehicle forward information on a situation ahead of an own vehicle;
• and
• an electronic control unit configured to:
• determine that a control start condition is satisfied when there is an object in an area of a route which the own vehicle moves, based on the own vehicle forward information;
• and
• execute a steering control of steering the own vehicle to increase a yaw angle of the own vehicle with respect to a moving lane of the own vehicle and decrease the yaw angle to avoid a collision of the own vehicle with the object when the electronic control unit determines that control start condition is satisfied,
• wherein the electronic control unit is configured to:
• determine that a control termination condition is satisfied when the yaw angle becomes equal to or smaller than a predetermined yaw angle, and a steering angle of the own vehicle becomes equal to or smaller than a predetermined steering angle after the electronic control unit starts steering the own vehicle to decrease the yaw angle in executing the steering control;
• and
• terminate executing the steering control when the control termination condition is satisfied.