VEHICLE CONTROL APPARATUS, VEHICLE CONTROL METHOD, VEHICLE, AND STORAGE MEDIUM

A vehicle control apparatus comprises a first detection unit configured to have a first detection range, a second detection unit configured to have a second detection range which at least partially overlaps the first detection range, and a vehicle control unit configured to be capable of performing vehicle control based on a first control state and vehicle control based on a second control state which has a high vehicle control automation rate or a reduced degree of vehicle operation participation requested to a driver compared to the first control state. The vehicle control unit performs control to shift from the first control state to the second control state based on a condition that a match degree between pieces of preceding object information of a vehicle detected by the first detection unit and the second detection unit.