VEHICLE CONTROL APPARATUS

A vehicle control apparatus includes a processor. Before the vehicle passes through an inflection point of a curvature of a target trajectory, the processor sets a first reference point before the inflection point. After the vehicle passes through the inflection point, the processor sets a second reference point at a position where a second distance from a current position of the vehicle after the vehicle passes through the inflection point to the second reference point is longer than a first distance from a current position of the vehicle before the vehicle passes through the inflection point to the first reference point when compared under travel conditions identical in a vehicle speed, an acceleration rate, a deceleration rate, or a steering angle. The processor sets a target steering angle based on the curvature of an arc passing through the current position and the first reference point or the second reference point.