The vehicle control apparatus has a map information output device to output map information which contains a group of nodes representing a street. A vehicle position detector (M2) detects the vehicle position (P) on a map. A street shape decision device (M11) determines a street shape on the basis of an arrangement of individual nodes in front of the vehicle position (P). A maximum drive past speed calculation device (M5) calculates the maximum drive through speed for each of the nodes on the basis of the determined street shape. A vehicle speed detector (M6) detects the speed of the vehicle (V). A predicted drive through speed calculation device (M7) calculates a predicted speed for each node on the basis of the detected vehicle speed. A drive through possibility/impossibility determination device (M8) compares the predicted speed with the maximum speed and determines whether the vehicle can drive safely through each node. A vehicle controller (M12) controls the vehicle on the basis of a result of the determination. The maximum speed includes a control start speed and a control end speed which is at least as great as the start speed. The determination device starts operation of the vehicle controller when the predicted speed exceeds the control start speed, and ends operation of the controller when the predicted speed is less than the control end speed.
