A vehicle control method for controlling vehicles adapted to automated valet parking in a parking lot includes acquiring map information of the parking lot and vehicle information indicating positions of the vehicles in the parking lot, determining whether a retreating vehicle is present based on the map information and the vehicle information, determining a retreating route through a retreating route determination process, and moving the retreating vehicle along the retreating route. The retreating route determination process includes acquiring traveling route information indicating an exiting route, searching for a non-interfering route that does not interfere with the exiting route based on the map information, the vehicle information, and the traveling route information, and determining the non-interfering route as the retreating route.