Method and apparatus for controlling driving force for dual-motor-equipped vehicle

1. A driving force control apparatus for a vehicle comprising:

a front wheel driver configured to generate a driving force to a front wheel of the vehicle;

a rear wheel driver configured to generate a driving force to a rear wheel of the vehicle independently of the front wheel driver;

a wheel speed detector, disposed on each wheel of the vehicle, configured to generate a signal related to a wheel speed of each wheel;

a wheel vibration calculator configured to calculate a vibration value of each wheel by using a value detected by the wheel speed detector;

an estimated speed calculator configured to calculate an estimated vehicle speed of the vehicle using the wheel speed of a wheel having a lowest wheel speed among wheels of the vehicle or using an average wheel speed;

a slip-rate calculator configured to calculate a slip rate of each wheel using the estimated vehicle speed and the wheel speed of each wheel; and

a driving controller configured to reduce the driving force of the front wheel driver or the rear wheel driver upon determining the slip rate of each wheel is greater than a preset slip rate value,

wherein the estimated speed calculator determines that the estimated vehicle speed is greater than an actual speed of the vehicle upon determining that the vibration value calculated by the wheel vibration calculator is greater than a preset vibration value.

2. The driving force control apparatus of claim 1 , wherein

upon determining that the estimated vehicle speed is greater than the actual speed of the vehicle,

the estimated speed calculator determines that a correction of the estimated vehicle speed is necessary, and

the driving controller reduces the driving force of either the front wheel driver or the rear wheel driver until the vibration value of the front wheel or the rear wheel becomes smaller than the preset vibration value, and adjusts the estimated vehicle speed until after the vibration value of the front wheel or the rear wheel becomes smaller than the preset vibration value.

3. The driving force control apparatus of claim 2 , wherein

the slip-rate calculator calculates the slip rate of each wheel by using the adjusted estimated vehicle speed.

4. The driving force control apparatus of claim 2 , wherein

after adjusting the estimated vehicle speed, the driving controller increases the wheel speed of the front wheel or the rear wheel that has been reduced, and decreases the wheel speed of a remaining one between the front and rear wheels that has not been reduced.

5. The driving force control apparatus of claim 4 , wherein

the driving controller repeatedly increases and decreases the wheel speeds of the front wheel and the rear wheel while crossing the wheel speeds of the front wheel and the rear wheel.

6. The driving force control apparatus of claim 4 , wherein

the driving controller does not increase the wheel speed of the front wheel or the rear wheel up to a speed higher than the adjusted estimated vehicle speed by a predetermined offset value or more.

7. The driving force control apparatus of claim 1 , wherein

the front wheel driver and the rear wheel driver are electric motors.

8. A method for controlling a driving force for a vehicle, comprising steps of:

detecting wheel speeds of a front wheel and a rear wheel of the vehicle;

calculating vibration values of the front wheel and the rear wheel;

determining whether the vibration values of the front wheel and the rear wheel fall within a predetermined range from a preset vibration threshold value;

calculating an estimated vehicle speed of the vehicle using the wheel speed of a wheel having a lowest wheel speed among wheels of the vehicle or using an average wheel speed,

determining that the estimated vehicle speed is greater than an actual speed of the vehicle upon determining that the vibration values of the front wheel and the rear wheel do not fall within the predetermined range from the preset vibration threshold value;

and reducing the driving force of a rear wheel driver to reduce the wheel speed of the rear wheel, upon determining that the estimated vehicle speed is greater than the actual speed of the vehicle.

9. The method of claim 8 , wherein

the step of determining whether the estimated vehicle speed is greater than an actual speed of the vehicle comprises

determining that a correction of the estimated vehicle speed is necessary, upon determining that the vibration values of the front wheel and the rear wheel do not fall within the predetermined range from the preset vibration threshold value, and

the step of reducing the driving force of a rear wheel driver to reduce the wheel speed of the rear wheel comprises:

reducing the driving force of the rear wheel driver until the vibration values of the front wheel and the rear wheel fall within the predetermined range from the preset vibration threshold value; and

adjusting the estimated vehicle speed until after the vibration values of the front wheel and the rear wheel fall within the predetermined range from the preset vibration threshold value.

10. The method of claim 9 , further comprising a step of

after adjusting the estimated vehicle speed, increasing the driving force of the rear wheel driver that has been reduced and decreasing the driving force of a front wheel driver.

11. The method of claim 10 , wherein the step of increasing the driving force of the rear wheel driver and decreasing the driving force of a front wheel driver comprises

increasing the driving force of the rear wheel driver until a difference between the wheel speed of the rear wheel and the estimated vehicle speed becomes a set offset.

12. The method of claim 11 , further comprising a step of

reducing the driving force of the rear wheel driver again and increasing the driving force of the front wheel driver that has been reduced, upon determining that the difference between the wheel speed of the front wheel and the estimated vehicle speed becomes the set offset.

13. The method of claim 10 , further comprising

repeatedly increasing and decreasing the wheel speeds of the front wheel and the rear wheel while crossing the wheel speeds of the front wheel and the rear wheel.