Vehicle Control Apparatus and Vehicle Control Method

An embodiment apparatus for controlling a vehicle includes a sensor configured to acquire surrounding information of the vehicle, a location acquisition device configured to acquire location information of the vehicle, and a controller configured to generate an autonomous driving route based on the surrounding information of the vehicle when it is determined that the vehicle is located within an operational design domain based on the location information of the vehicle, determine a first candidate lane capable of autonomous driving based on a lane width of a diverging lane and an inter-lane distance when there is at least one diverging lane, and generate the autonomous driving route based on the first candidate lane.