A vehicle control apparatus and method includes, when a self-driving vehicle is in a self-driving status, obtaining driving status information of the self-driving vehicle and first driving environment information of the self-driving vehicle; calculating a coarse-grained control instruction of the self-driving vehicle based on the driving status information, the first driving environment information, and a control instruction decision model; determining, based on second driving environment information, whether the coarse-grained control instruction is to be executed; and when the coarse-grained control instruction is to be executed, determining, based on lane information and the driving status information of the self-driving vehicle, a fine-grained control instruction corresponding to the coarse-grained control instruction.