Vehicle control apparatus and control method thereof

1. A vehicle control apparatus comprising:

a sensor configured to sense at least one of current trailer connection information, current trailer load information, current trailer traction information, and current trailer relative angle information;

a determination unit configured to determine whether a trailer is in a mounted state by using the sensed current trailer connection information, and determine whether an ESC (Electronic Stability Control) is in an unstable operation state by using at least one of the sensed current trailer load information, current trailer traction information, and current trailer relative angle information when the trailer is in the mounted state; and

a control unit configured to transmit a first compensation signal to an ESC apparatus to compensate the ESC apparatus in accordance with the set target ESC stable operation control information to operate the ESC apparatus in a stable operation state according to at least one of the sensed current trailer load information, current trailer traction information, and current trailer relative angle information when the ESC is in the unstable operation state.

2. The vehicle control apparatus according to claim 1 ,

wherein the sensor is configured to sense at least one of current vehicle speed information, current wheel speed information, current steering angle information, and current YAW/G information when the trailer is in the mounted state;

the determination unit is configured to determine whether the ESC is in an unstable operation state by further using at least one of the sensed current vehicle speed information, current wheel speed information, current steering angle information, and current YAW/G information; and

the control unit is configured to transmit the first compensation signal to the ESC apparatus to compensate the ESC apparatus in accordance with the set target ESC stable operation control information to operate the ESC apparatus in a stable operation state according to at least one of the sensed current vehicle speed information, current wheel speed information, current steering angle information, current YAW/G information, current trailer connection information, current trailer load information, current trailer traction information, and current trailer relative angle information when the ESC is in the unstable operation state.

3. The vehicle control apparatus according to claim 1 ,

wherein the sensor is configured to at least one of current steering angle information and current steering torque information when a first compensation completion signal is received from the ESC apparatus;

the determination unit is configured to determine whether the behavior of the trailer is in an unstable operation state by further using at least one of the sensed current steering angle information and the current steering torque information; and

the control unit is configured to transmit a second compensation signal to an EPS apparatus to compensate the EPS apparatus in accordance with the set target EPS stable operation control information to stabilize the behavior of the trailer by a steering operation of the EPS apparatus according to at least one of the sensed current steering angle information and current steering torque information corresponding to the compensated target ESC stable operation control information when the behavior of the trailer is in the unstable operation state.

4. The vehicle control apparatus according to claim 1 ,

further comprising an identification unit configured to identify that the current ESC apparatus operates unstably when the ESC is in the unstable operation state.

5. The vehicle control apparatus according to claim 1 ,

further comprising an identification unit configured to identify that the current ESC apparatus is stably compensated when compensating the ESC apparatus in accordance with the target ESC stable operation control information.

6. The vehicle control apparatus according to claim 1 ,

further comprising an identification unit configured to identify that the current ESC apparatus has been stably compensated when a first compensation completion signal is received from the ESC apparatus.

7. The vehicle control apparatus according to claim 3 ,

further comprising an identification unit configured to identify that the behavior of the current trailer is unstably operated when the behavior of the trailer is in the unstable operation state.

8. The vehicle control apparatus according to claim 3 ,

further comprising an identification unit configured to identify that the behavior of the current trailer is stabilized when the EPS apparatus is compensated in accordance with the target EPS stable operation control information.

9. The vehicle control apparatus according to claim 3 ,

further comprising an identification unit configured to identify that the behavior of the current trailer has been stably compensated when a second compensation completion signal is received from the EPS apparatus.

10. A vehicle control method comprising:

sensing current trailer connection information;

determining whether a trailer is in a mounted state by using the sensed current trailer connection information;

sensing at least one of current trailer load information, current trailer traction information, and current trailer relative angle information when the trailer is in the mounted state;

determining whether an ESC (Electronic Stability Control) is in an unstable operation state by using at least one of the sensed current trailer load information, current trailer traction information, and current trailer relative angle information; and

transmitting a first compensation signal to an ESC apparatus to compensate the ESC apparatus in accordance with the set target ESC stable operation control information to operate the ESC apparatus in a stable operation state according to at least one of the sensed current trailer load information, current trailer traction information, and current trailer relative angle information when the ESC is in the unstable operation state.

11. The vehicle control method according to claim 10 ,

further comprising:

sensing at least one of current vehicle speed information, current wheel speed information, current steering angle information, and current YAW/G information when the trailer is in the mounted state;

determining whether the ESC is in an unstable operation state by further using at least one of the sensed current vehicle speed information, current wheel speed information, current steering angle information, and current YAW/G information; and

transmitting the first compensation signal to the ESC apparatus to compensate the ESC apparatus in accordance with the set target ESC stable operation control information to operate the ESC apparatus in a stable operation state according to at least one of the sensed current vehicle speed information, current wheel speed information, current steering angle information, current YAW/G information, current trailer connection information, current trailer load information, current trailer traction information, and current trailer relative angle information when the ESC is in the unstable operation state.

12. The vehicle control method according to claim 10 ,

further comprising:

sensing at least one of current steering angle information and current steering torque information when a first compensation completion signal is received from the ESC apparatus;

determining whether the behavior of the trailer is in an unstable operation state by further using at least one of the sensed current steering angle information and the current steering torque information; and

transmitting a second compensation signal to an EPS apparatus to compensate the EPS apparatus in accordance with the set target EPS stable operation control information to stabilize the behavior of the trailer by a steering operation of the EPS apparatus according to at least one of the sensed current steering angle information and current steering torque information corresponding to the compensated target ESC stable operation control information when the behavior of the trailer is in the unstable operation state.

13. The vehicle control method according to claim 10 ,

further comprising identifying that the current ESC apparatus operates unstably when the ESC is in the unstable operation state.

14. The vehicle control method according to claim 10 ,

further comprising identifying that the current ESC apparatus is stably compensated when compensating the ESC apparatus in accordance with the target ESC stable operation control information.

15. The vehicle control method according to claim 10 ,

further comprising identifying that the current ESC apparatus has been stably compensated when a first compensation completion signal is received from the ESC apparatus.

16. The vehicle control method according to claim 12 ,

further comprising identifying that the behavior of the current trailer is unstably operated when the behavior of the trailer is in the unstable operation state.

17. The vehicle control method according to claim 12 ,

further comprising identifying that the behavior of the current trailer is stabilized when the EPS apparatus is compensated in accordance with the target EPS stable operation control information.

18. The vehicle control method according to claim 12 ,

further comprising identifying that the behavior of the current trailer has been stably compensated when a second compensation completion signal is received from the EPS apparatus.