Vehicle control apparatus

A vehicle control apparatus comprising a controller configured to:

• derive, from an image of an object at a first time, reference posture likelihood and immediate posture likelihood at the first time, and calculate a likelihood ratio at the first time, the reference posture likelihood indicating likelihood that posture of the object is a reference posture, the immediate posture likelihood indicating likelihood that the posture of the object is an immediate posture, the likelihood ratio being a ratio of the reference posture likelihood to the immediate posture likelihood, and the immediate posture being a posture that the object is likely to take before or after transitioning to the reference posture;
• turn on a flag indicating that the posture of the object is the reference posture in a case in which the reference posture likelihood at the first time is equal to or greater than a threshold, and the likelihood ratio at the first time is equal to or greater than a first predetermined value;
• and
• turn off the flag in a case in which the reference posture likelihood at the first time is less than the threshold, or the likelihood ratio at the first time is less than the first predetermined value.