Vehicle control apparatus and control method thereof

1. A vehicle control apparatus comprising:

an inputter configured to receive a regenerative braking signal and an anti-lock brake system (ABS) operation signal output by a braking apparatus and a driver's current necessary braking pressure value;

a determiner configured to determine whether the input regenerative braking signal is in a regenerative braking state, whether the input ABS operation signal is in an ABS started state, and whether the input driver's current necessary braking pressure value is in a first state in which the driver's current necessary braking pressure value is less than or equal to a preset target pressure value;

a calculator configured to calculate a current pressure value based on a coast regeneration torque value when the input driver's current necessary braking pressure value is in the first state, wherein the coast regeneration torque value is used to perform a regenerative braking, and generated from an electric motor of the braking apparatus; and

a controller configured to

convert the calculated current pressure value into a ratio of the current pressure value to the driver's current necessary braking pressure value to generate a compensated target pressure value, based on the ratio, which is used for compensating the preset target pressure value, and

transmit the compensated target pressure value to the braking apparatus to thereby operate the braking apparatus.

2. The vehicle control apparatus of claim 1 , wherein the determiner determines whether the input driver's current necessary braking pressure value is in the first state when the regenerative braking state is in a regenerative braking cooperative control section.

3. The vehicle control apparatus of claim 1 , wherein the determiner determines whether the input driver's current necessary braking pressure value is in the first state when the regenerative braking state is in a section in which a regenerative braking cooperative control section overlaps an ABS maintaining section in the ABS started state.

4. The vehicle control apparatus of claim 1 , wherein the determiner further determines whether the input driver's current necessary braking pressure value is in the first state in which the driver's current necessary braking pressure value is less than or equal to the preset target pressure value, when the determiner determines whether the input regenerative braking signal is in the regenerative braking state and the input ABS operation signal is in an ABS operation start prohibition state.

5. The vehicle control apparatus of claim 1 , wherein the calculator calculates the current pressure value corresponding to the coast regeneration torque value during an ABS maintaining section in the ABS started state.

6. The vehicle control apparatus of claim 1 , wherein the calculator calculates the current pressure value corresponding to the coast regeneration torque value during a section in which an ABS maintaining section in the ABS started state overlaps a coast regeneration torque applying section for applying a coast regeneration torque signal.

7. The vehicle control apparatus of claim 1 , wherein the controller converts the calculated current pressure value into the ratio of the current pressure value to the driver's current necessary braking pressure value to compensate the target pressure value during a compensation pressure applying section for applying a compensation pressure signal for compensating for regenerative braking.

8. The vehicle control apparatus of claim 1 , wherein the controller transmits the compensated target pressure value to the braking apparatus when the regenerative braking state is in a regenerative braking cooperative control section.

9. The vehicle control apparatus of claim 1 , wherein the controller transmits the compensated target pressure value to the braking apparatus while the regenerative braking state is in a section in which a regenerative braking cooperative control section overlaps an ABS maintaining section in the ABS started state.

10. The vehicle control apparatus of claim 1 , wherein the controller transmits the compensated target pressure value to the braking apparatus while the regenerative braking state is in a section in which a regenerative braking cooperative control section, an ABS maintaining section in the ABS started state, and a compensation pressure applying section for applying a compensation pressure signal for compensating for regenerative braking overlap.

11. The vehicle control apparatus of claim 1 , wherein the controller transmits the compensated target pressure value to the braking apparatus while the regenerative braking state is in a section in which a time period in which a regenerative braking cooperative control section almost ends overlaps an ABS maintaining section in the ABS started state.

12. The vehicle control apparatus of claim 1 , wherein the controller transmits the compensated target pressure value to the braking apparatus while the regenerative braking state is in a section in which a time period in which a regenerative braking cooperative control section almost ends, an ABS maintaining section in the ABS started state and a compensation pressure applying section for applying a compensation pressure signal for compensating for regenerative braking overlap.

13. The vehicle control apparatus of claim 1 , wherein a pulse pattern of the compensated target pressure value:

gradually rises by a predetermined slope for an initial maintaining time period of an ABS maintaining section in the ABS started state;

maintains a predetermined level for a middle maintaining time period after the initial maintaining time period; and

gradually falls by a predetermined slope from a time at which the ABS maintaining section almost ends in the ABS maintaining section.

14. A vehicle control method comprising:

inputting a regenerative braking signal and an anti-lock brake system (ABS) operation signal output from a braking apparatus, and a driver's current necessary braking pressure value;

determining whether the input regenerative braking signal is in a regenerative braking state, whether the input ABS operation signal is in the ABS started state, and whether the input driver's current necessary braking pressure value is in a first state in which the driver's current necessary braking pressure value is less than or equal to a preset target pressure value;

calculating a current pressure value based on a coast regeneration torque value when the input driver's current necessary braking pressure value is in the first state, wherein the coast regeneration torque value is used to perform a regenerative braking, and generated from an electric motor of the braking apparatus;

generating a compensated target pressure value which is used to compensate the preset target pressure value, wherein the compensated target pressure is generated based on a ratio of the calculated current pressure value to the driver's current necessary braking pressure value which is converted by the calculated current pressure value into; and

transmitting the compensated target pressure value to the braking apparatus.

15. The vehicle control method of claim 14 , wherein the determining further determines whether the input driver's current necessary braking pressure value is in the first state in which the driver's current necessary braking pressure value is less than or equal to the preset target pressure value, when the determining determines whether the input regenerative braking signal is in the regenerative braking state and the input ABS operation signal is in an ABS operation start prohibition state.