To provide a vehicle control apparatus and a vehicle control method, which allow to review a traveling plan in a more appropriate timing, and thereby, and efficiently generate a more accurate traveling plan.

The vehicle control apparatus and vehicle control method generate the traveling plan with which a vehicle travels, achieve a plan to control the traveling of the vehicle by following the control of an actuator based on the generated traveling plan, and output the review command of the traveling plan when predicting such situations that the following the control of the actuator is insufficient for the traveling plan in achievement of the plan.

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