Control apparatus for vehicle, control system for vehicle, and control method for vehicle

1 . A system for a vehicle, comprising:

an accelerator;

a first driving wheel;

a second driving wheel;

a driving axle connecting the first driving wheel and the second driving wheel;

a driving source configured to provide a driving torque to the driving axle;

a brake apparatus configured to provide braking torques to the first driving wheel and the second driving wheel individually; and

a vehicle control apparatus operatively connected to the driving source and to the brake apparatus, and configured to:

(a) calculate a driver request torque based on an operation amount of the accelerator and a vehicle speed;

(b) when the vehicle is on a split road surface, the split road surface being a road surface on which a frictional coefficient of a road surface where the first driving wheel contacts a ground is lower than a frictional coefficient of a road surface where the second driving wheel contacts the ground:

calculate a BLSD request hydraulic pressure to provide to the first driving wheel,

calculate a braking torque corresponding to the BLSD request hydraulic pressure,

calculate a loss compensation driving torque resulting from the BLSD request hydraulic pressure,

double the loss compensation driving torque,

calculate a post-compensation driver request torque by adding the doubled loss compensation driving torque to the driver request torque, and

apply the post-compensation driver request torque to the driving source.

2 . The system according to claim 1 , wherein the vehicle control apparatus is configured to limit the post-compensation driver request torque such that a difference between the driver request torque and a driving torque of the vehicle matches or falls below the driving torque lost due to the braking torque.

3 . The system according to claim 1 , wherein the driving source is a motor.

4 . The system according to claim 3 , wherein

the vehicle control apparatus is further configured to prevent a slip of the first driving wheel by controlling an output torque of the motor, and

the driving torque lost due to the braking torque is calculated by subtracting a difference between a slip control torque and a braking torque corresponding to the BLSD request hydraulic pressure from the driver request torque.

5 . The system according to claim 1 , wherein the vehicle control apparatus is further configured to reduce the post-compensation driver request torque toward the driver request torque when reducing the braking torque provided to the first driving wheel by the brake apparatus toward zero.

6 . The system according to claim 5 , wherein the vehicle control apparatus is further configured to reduce the braking torque and the post-compensation driver request torque in phase with each other.

7 . The system according to claim 1 , wherein

the vehicle control apparatus is further configured to limit the post-compensation driver request torque based on a limit value calculated by adding a difference between the driver request torque and a converted driving torque, and

wherein the converted driving torque is a torque value converted from a longitudinal acceleration of the vehicle.

8 . A method for controlling a vehicle, comprising:

providing a vehicle having an accelerator, a first driving wheel, a second driving wheel, a driving axle connecting the first driving wheel and the second driving wheel, a driving source configured to provide a driving torque to the driving axle, and a brake apparatus configured to provide braking torques to the first driving wheel and the second driving wheel individually;

providing a vehicle control apparatus operatively connected to the driving source and the brake apparatus;

calculating, by the vehicle control apparatus, a driver request torque based on an operation amount of the accelerator and a vehicle speed;

when the vehicle is on a split road surface, the split road surface being a road surface on which a frictional coefficient of a road surface where the first driving wheel contacts a ground is lower than a frictional coefficient of a road surface where the second driving wheel contacts the ground:

calculating a BLSD request hydraulic pressure to provide to the first driving wheel,

calculating a braking torque corresponding to the BLSD request hydraulic pressure,

calculating a loss compensation driving torque based on the braking torque,

doubling the loss compensation driving torque,

calculating a post-compensation driver request torque by adding the doubled loss compensation driving torque to the driver request torque, and

applying the post-compensation driver request torque to the driving source.

9 . The method according to claim 8 , further comprising limiting the post-compensation driver request torque such that a difference between the driver request torque and a driving torque of the vehicle matches or falls below the driving torque lost due to the braking torque.

10 . The method according to claim 8 , wherein the driving source is a motor.

11 . The method according to claim 10 , further comprising: controlling an output torque of the motor to prevent a slip of the first driving wheel, wherein the driving torque lost due to the braking torque is calculated by subtracting a difference between a slip control torque and a braking torque corresponding to the BLSD request hydraulic pressure from the driver request torque.

12 . The method according to claim 8 , further comprising: reducing the post-compensation driver request torque toward the driver request torque when reducing the braking torque provided to the first driving wheel by the brake apparatus toward zero.

13 . The method according to claim 12 , further comprising: reducing the braking torque and the post-compensation driver request torque in phase with each other.

14 . The method according to claim 8 , further comprising: limiting the post-compensation driver request torque based on a limit value, wherein

the limit value is calculated by adding a difference between the driver request torque and a converted driving torque, and

the converted driving torque is a torque value converted from a longitudinal acceleration of the vehicle.