APPARATUS AND METHOD FOR CONTROLLING A VEHICLE, COMPUTER-READABLE STORAGE MEDIUM

An apparatus and method for controlling a vehicle, and a non-transitory computer-readable storage medium storing a program for performing the method, are disclosed. A vehicle control apparatus according to an aspect of the present disclosure may include at least one sensor mounted to a vehicle and configured to detect a target existing around the vehicle, and a controller configured to determine a position of the target based on detection information of the at least one sensor, determine a turning radius of the target according to a preset initial avoidance steering angle, and control the vehicle to be steered according to an avoidance steering angle for avoiding the target when the turning radius of the target is equal to or less than a reference distance.