An apparatus for controlling a vehicle, which includes: a battery (3) capable of being charged from an external power source (EPS); a power generation unit (PGU) capable of charging the battery (3); an electric heater (12) configured to produce heat with electric power from an electric power source; a heater core (11) configured to heat air by using any one of waste heat from the power generation unit (PGU) and the electric heater (12); and a controller (19) configured to perform control for selectively using the waste heat from the power generation unit (PGU) and the electric heater (12) as a heat source of the heater core (11) when the vehicle is parked.