In a vehicle control apparatus employing 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, a second speed self-adjustment control system is provided for controlling the host vehicle's speed based on a second command value determined based on information about a lateral acceleration acting on the host vehicle. Also provided is a deceleration selector configured to select either one of the first and second command values, which selected command value produces a greater deceleration exerted on the host vehicle. A control unit is configured to control the host vehicle's speed by driving an actuator based on the selected command value.