VEHICLE CONTROL APPARATUS

Provided is a vehicle control apparatus capable of continuing a control function against abnormality in operation of an arithmetic processor and abnormality in the power supply voltage and capable of improving reliability. In a case where there is no abnormality in a main CPU and a main CPU of an autonomous travel control unit and an auxiliary control unit , the autonomous travel control unit and the auxiliary control unit calculate control instruction values for automatic driving control, validate a CAN communication circuit of the autonomous travel control units while invalidating a CAN communication circuit of the auxiliary control unit . In a case where abnormality occurs in the autonomous travel control unit and there is no abnormality in the auxiliary control unit , the CAN communication circuit of the autonomous travel control unit is invalidated and the CAN communication circuit of the auxiliary control unit is validated. In a case where the auxiliary control unit has no abnormality when the autonomous travel control unit has abnormality during automatic driving control of the autonomous travel control unit , it is possible to continue seamless automatic driving control with substantially no time lag.