There will be no companion characters in PvP fights, at least not in the Warzones, where teams of both factions battle each other. The game modes in pvp will be along the lines of classical pvp variants such as capturing and holding control points and Capture the flag. Thus far we have seen four and eight player warzones. Although there are tests for mass pvp fights going on Georg Zoeller didn't comment on mass pvp fights at that moment.
Furthermore BioWare is working on a warzone where players from the same faction can fight faction each other, but only as a backup solution in case the enemy can't provide enough players. There will also be open world pvp fights in which each faction can pursue missions objectives. Several planets will offer special pvp assignments, which could be something like capturing enemy buildings or eliminating enemy leaders. According to Zoeller this ensures that pvp oriented players can focus on certain areas and it gives them a bit more structure. The question concerning armed combat vehicles, Georg Zoeller answers with a promising maybe... So, chances are the players might be able to ride into combat in vehicles, maybe not in open world pvp but in Warzones. Apart from this, players will be able to fight against other players during some of their regular quests, similar to Warhammer Online, where some quests lead intro enemy territory making an pvp encounter more likely.