Vehicle control apparatus

A vehicle control apparatus comprising:

• (a) a first speed self-adjustment control system configured to control a speed of a host vehicle based on a first command value, in a manner so as to maintain a distance of the host vehicle from a preceding vehicle or to maintain a set speed;
• (b) a second speed self-adjustment control system configured to control the speed of the host vehicle by application of a longitudinal acceleration/deceleration to the host vehicle, based on a second command value determined based on a time rate of change in a lateral acceleration acting on the host vehicle when the host vehicle is rounding a curve;
• (c) a deceleration selector configured to select either one of the first command value and the second command value, which selected command value is a deceleration command value so as to produce a greater deceleration exerted on the host vehicle;
• (d) an acceleration selector configured to select either one of the first command value and the second command value, which selected command value is an acceleration command value so as to produce a smaller acceleration exerted on the host vehicle;
• and
• (e) a control unit configured to control the speed of the host vehicle by driving an actuator based on the selected command value.