Eco-friendly vehicle and method of controlling driving force for the same

1. A method of distributing driving force of four wheel drive (4WD) eco-friendly vehicle comprising a first driving wheel connected to a first driving source and a second driving wheel connected to a second driving source, the method comprising:

determining a first allowable range of driving force for each of the first driving wheel and the second driving wheel based on determination of travel stability;

determining a second allowable range of driving force for each of the first driving wheel and the second driving wheel based on system limitations of at least one of the first driving source or the second driving source;

determining a range of available driving force of the first driving wheel based on the first allowable range of driving force and the second allowable range of driving force;

determining first target driving force of the first driving wheel based on efficiency of the first driving source within the range of available driving force; and

determining second target driving force of the second driving wheel based on the first target driving force and requested torque.

2. The method of claim 1 , wherein the determining the travel stability is performed based on at least one of a wheel speed, a longitudinal acceleration, or a lateral acceleration of each of the first driving wheel and the second driving wheel.

3. The method of claim 1 , wherein the determining the first allowable range of driving force comprises:

determining a first torque limit for each driving wheel based on feedback control; and

determining a second torque limit for each driving wheel based on feedforward control.

4. The method of claim 1 , wherein the determining the first allowable range of driving force comprises:

determining a first torque limit for each driving wheel for reducing wheel slip that occurs; and

determining a second torque limit for each driving wheel for preventing degradation of normal force due to weight transfer or preventing degradation of travel stability due to turning.

5. The method of claim 1 , wherein the range of available driving force of the first driving wheel comprises:

determining a smallest value of a torque limit of the first driving wheel of the first allowable range of driving force and the second allowable range of driving force as first maximum driving force of the first driving wheel;

determining a smallest value of a torque limit of the second driving wheel of the first allowable range of driving force and the second allowable range of driving force as second maximum driving force of the second driving wheel; and

determining minimum driving force of the first driving wheel by subtracting the second maximum driving force from torque requested by the driver.

6. The method of claim 5 , wherein any one of the first driving source and the second driving source comprises only a motor, and when the first allowable range of driving force is related to stability for turning, the second allowable range of driving force for a driving wheel connected to the driving source comprising only the motor is torque to be output from the motor irrespective of a state of a battery for supplying power to the motor.

7. The method of claim 6 , wherein the torque to be output from the motor irrespective of the state of the battery comprises torque to be output during power generation using a preset minimum state of charge (SoC) of the battery or an engine.

8. The method of claim 1 , wherein the first driving source comprises at least one of a first motor or a first engine; and

wherein the second driving source comprises at least one of a second motor or a second engine.

9. A computer-readable recording medium having recorded thereon a program for executing the method of claim 1 .

10. A four wheel drive (4WD) eco-friendly vehicle, the vehicle comprising:

a first driving source;

a first driving wheel connected to the first driving source;

a second driving source;

a second driving wheel connected to the second driving source;

a first controller configured to determine a first allowable range of driving force for each of the first driving wheel and the second driving wheel based on determination of travel stability; and

a second controller configured to determine a second allowable range of driving force for each of the first driving wheel and the second driving wheel based on system limitations of at least one of the first driving source or the second driving source, to determine a range of available driving force of the first driving wheel based on the first allowable range of driving force and the second allowable range of driving force, to determine first target driving force of the first driving wheel based on efficiency of the first driving source within the range of available driving force, and to determine second target driving force of the second driving wheel based on the first target driving force and requested torque.

11. The 4WD eco-friendly vehicle of claim 10 , wherein the travel stability is determined based on at least one of a wheel speed, a longitudinal acceleration, or a lateral acceleration of each of the first driving wheel and the second driving wheel.

12. The 4WD eco-friendly vehicle of claim 10 , wherein the first allowable range of driving force comprises a first torque limit for each driving wheel based on feedback control and a second torque limit for each driving wheel based on feedforward control.

13. The 4WD eco-friendly vehicle of claim 10 , wherein the first allowable range of driving force comprises a first torque limit for each driving wheel for reducing wheel slip that occurs, and a second torque limit for each driving wheel for preventing degradation of normal force due to weight transfer or preventing degradation of travel stability due to turning.

14. The 4WD eco-friendly vehicle of claim 10 , wherein the second controller determines a smallest value of a torque limit of the first driving wheel of the first allowable range of driving force and the second allowable range of driving force as first maximum driving force of the first driving wheel, determines a smallest value of a torque limit of the second driving wheel of the first allowable range of driving force and the second allowable range of driving force as second maximum driving force of the second driving wheel, and determines minimum driving force of the first driving wheel by subtracting the second maximum driving force from torque requested by the driver.

15. The 4WD eco-friendly vehicle of claim 14 , wherein, when any one of the first driving source and the second driving source comprises only a motor, the second controller determines the second allowable range of driving force for a driving wheel connected to the driving source comprising only the motor as torque to be output from the motor irrespective of a state of a battery for supplying power to the motor when the first allowable range of driving force is related to stability for turning.

16. The 4WD eco-friendly vehicle of claim 15 , wherein the torque to be output from the motor irrespective of the state of the battery comprises torque to be output during power generation using a preset minimum state of charge (SoC) of the battery or an engine.

17. The 4WD eco-friendly vehicle of claim 10 , wherein the first driving source comprises at least one of a first motor or a first engine; and

wherein the second driving source comprises at least one of a second motor or a second engine.