Abstract: A vehicle control apparatus is configured to execute processing to calculate a correction travel route and a control target value on the basis of a target travel route under a specified constraint condition. The vehicle control apparatus calculates the correction travel route by using an evaluation function in a manner to minimize a difference of the correction travel route from the target travel route. The evaluation function is a sum that is acquired by weighting the evaluation value at each prediction point by weight coefficients. A time interval between each adjacent pair of the prediction points is set to be increased from a near side toward a far side from the vehicle. The weight coefficients are set such that weight at the prediction point on the far side from the vehicle is less than the weight at the prediction point on the near side of the vehicle.

Abstract: A vehicle control apparatus is configured to execute processing to calculate a correction travel route and a control target value on the basis of a target travel route under a specified constraint condition. The vehicle control apparatus calculates the correction travel route by using an evaluation function in a manner to minimize a difference of the correction travel route from the target travel route. The evaluation function is a sum that is acquired by weighting the evaluation value at each prediction point by weight coefficients. A time interval between each adjacent pair of the prediction points is set to be increased from a near side toward a far side from the vehicle. The weight coefficients are set such that weight at the prediction point on the far side from the vehicle is less than the weight at the prediction point on the near side of the vehicle.