Vehicle control apparatus

A vehicle control apparatus to be applied to a vehicle comprising:

• one or more processors configured to
• set, before the vehicle passes through an inflection point of a curvature of a target trajectory, a first reference point on the target trajectory at a position before the inflection point, and set a target steering angle on a basis of a curvature of an arc passing through a current position of the vehicle and the first reference point,
• set, after the vehicle passes through the inflection point, a second reference point on the target trajectory at such a position where a second distance from a current position of the vehicle detected 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 detected before the vehicle passes through the inflection point to the first reference point when compared under identical travel conditions, the identical travel conditions being identical to each other in at least one of a vehicle speed, an acceleration rate, a deceleration rate, or a steering angle, and set the target steering angle on a basis of a curvature of an arc passing through the current position of the vehicle and the second reference point, and
• control the steering angle on a basis of the target steering angle;
• and
• one or more memories communicably coupled to the one or more processors.