CONTROL APPARATUS FOR VEHICLES

In a control apparatus configured to control a control target included in a vehicle in accordance with a predetermined travel plan of the vehicle, control circuitry is configured to cause the control apparatus to: (I) Determine a command parameter that controls the control target such that the control target operates in accordance with the travel plan, (II) Execute, independently from the travel plan, independent control that determines an acceptable condition that defines an acceptable range of the control parameter, and (III) Change, in response to determination that the command parameter determined by the control circuitry conflicts with the acceptable condition, the command parameter so as to satisfy the acceptable condition.