CPC B62D 6/00 (2013.01) [B60W 30/045 (2013.01); B60W 30/18172 (2013.01); B62D 5/0463 (2013.01); B60W 2050/0031 (2013.01); B60W 2520/125 (2013.01); B60W 2720/30 (2013.01); B60Y 2300/045 (2013.01); B60Y 2300/18175 (2013.01)] | 20 Claims |
1. A method of controlling a vehicle, the method being performed by the vehicle during operation of the vehicle and comprising:
determining a demanded torque based on a manipulation amount of an accelerator pedal or a brake pedal of the vehicle, the demanded torque being determined in response to a driver manipulating a steering wheel for turning the vehicle;
determining a first compensation torque based on a lateral acceleration rate of change during turning, the lateral acceleration rate of change obtained by use of a lateral acceleration sensor;
determining a first compensated demanded torque by applying the first compensation torque to the demanded torque;
determining a second compensation torque for preventing wheel slip of a driving wheel based on the first compensated demanded torque and an actual vehicle behavior, the actual vehicle behavior including an actual speed of the driving wheel of the vehicle;
determining a second compensated demanded torque by applying the second compensation torque to the first compensated demanded torque; and
controlling a driving source of the vehicle based on the second compensated demanded torque while turning the vehicle.
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