Control apparatus of vehicle

A control apparatus of a vehicle that automatically travels along a predetermined target route, the control apparatus comprising:

• a trajectory plan determination unit configured to determine, based on surrounding information of the vehicle, which trajectory plan to adopt as a future travel trajectory of the vehicle between a target route maintenance trajectory, a left avoidance trajectory, and a right avoidance trajectory;
• a motion plan determination unit configured to determine, based on the surrounding information, which motion plan to adopt as a future motion mode of the vehicle between a normal motion according to the determined trajectory plan or an emergency evacuation motion that temporarily disables the determined trajectory plan;
• and
• a vehicle control unit configured to control the vehicle based on the motion plan and current driving state information of the vehicle such that the driving state of the vehicle at each future time point is in accordance with the determined motion plan,
• wherein the trajectory plan determination unit and the motion plan determination unit sequentially update the trajectory plan and the motion plan, respectively, and the update frequency of the motion plan determination unit is higher than the update frequency of the trajectory plan determination unit.