Vehicle and control method thereof

1. A vehicle comprising:

a plurality of wheels;

a motor for providing a driving force to the plurality of wheels based on electrical energy stored in a battery;

a modulator for controlling a number of rotations of the motor; and

a controller for:

controlling the modulator based on a first control value for controlling the motor to rotate with a first magnitude torque at a coasting control,

when a wheel slip occurs in a safety control, controlling the modulator based on a second control value for controlling the motor to rotate with a second magnitude torque other than zero, and

when the wheel slip dissipates, controlling the modulator so that the motor rotates by gradually raising a magnitude of torque from the second magnitude torque to the first magnitude torque based on a preset time and a difference between the first magnitude torque and the second magnitude torque.

2. The vehicle according to claim 1 , wherein the controller calculates a modulation value through a pulse width modulation (PWM) method based on at least one of the first control value or the second control value.

3. The vehicle according to claim 1 , wherein the controller controls the modulator with a second modulation value calculated based on the second control value, and then controls the modulator again by increasing the second control value when the wheel slip dissipates.

4. The vehicle according to claim 3 , wherein the controller releases the safety control when the increased second control value is equal to the first control value.

5. The vehicle according to claim 3 , wherein the controller further decreases the second control value when the wheel slip occurs during the increase of the second control value.

6. The vehicle according to claim 3 , wherein the controller increases the second control value based on the preset time.

7. The vehicle according to claim 1 , further comprising a paddle shifter for receiving an input command from a driver,

wherein the controller determines the first control value based on the input command transmitted by the paddle shifter.

8. The vehicle according to claim 1 , wherein the controller determines the wheel slip when a rotational speed difference between front wheels among the plurality of wheels and rear wheels among the plurality of wheels is equal to or more than a reference value.

9. The vehicle according to claim 1 , further comprising:

a sensor; and

a communication device for external communication,

wherein the controller determines the safety control based on information on a road surface sensed by the sensor and transmitted from the communication device.

10. A control method of a vehicle, which includes a motor for generating a driving force to wheels based on electrical energy stored in a battery, the control method comprising steps of:

determining, by a controller, a safety control based on a state of a road surface;

controlling, by the controller, the motor based on a first control value for controlling the motor to rotate with a first magnitude torque, at a coasting control;

when a wheel slip occurs in the safety control, controlling, by the controller, the motor based on a second control value for controlling the motor to rotate with a second magnitude torque other than zero; and

when the wheel slip dissipates, controlling, by the controller, the modulator so that the motor rotates by gradually raising a magnitude of torque from the second magnitude torque to the first magnitude torque based on a preset time and a difference between the first magnitude torque and the second magnitude torque.

11. The control method according to claim 10 , wherein the step of controlling the motor based on the second control value comprises:

calculating a modulation value through a pulse width modulation (PWM) method based on at least one of the first control value or the second control value; and

controlling a number of rotations of the motor based on the calculated modulation value.

12. The control method according to claim 10 , wherein the step of controlling the motor based on the second control value comprises controlling the motor with a second modulation value calculated based on the second control value, and then controlling the motor again by increasing the second control value when the wheel slip dissipates.

13. The control method according to claim 12 , wherein the step of controlling the motor based on the second control value comprises: releasing the safety control and executing the coasting control when the increased second control value is equal to the first control value.

14. The control method according to claim 12 , wherein the step of controlling the motor based on the second control value comprises decreasing the second control value again when the wheel slip occurs during the increase of the second control value.

15. The control method according to claim 12 , wherein the step of controlling the motor based on the second control value comprises increasing the second control value on the preset time.

16. The control method according to claim 10 , wherein the vehicle further includes a paddle shifter for receiving an input command from a driver, and

wherein the step of controlling the motor based on the first control value comprises: determining the first control value based on an input command transmitted by the paddle shifter.

17. The control method according to claim 10 , further comprising determining the wheel slip when a rotational speed difference between front wheels among the plurality of wheels and rear wheels among the plurality of wheels is equal to or more than a reference value.

18. The control method according to claim 10 , wherein the vehicle further includes: a sensor; and a communication device for external communication, and wherein the step of determining the safety control comprises determining the safety control based on the state of the road surface sensed by the sensor and transmitted by the communication device.