| CPC B60W 30/182 (2013.01) [B60W 10/16 (2013.01); B60W 40/114 (2013.01); B60W 50/082 (2013.01); B60W 2540/18 (2013.01); B60W 2710/12 (2013.01); B60W 2720/30 (2013.01)] | 17 Claims |
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1. A method of controlling driving of a vehicle, the method comprising:
determining, by a controller, a required torque command when the vehicle is turning;
determining, by the controller, a differential control amount for generating a difference in torque applied between a left wheel and a right wheel of the vehicle based on steering input information of a driver when the vehicle is turning;
distributing, by the controller, the required torque command to a left wheel torque command and a right wheel torque command;
correcting, by the controller, the distributed left wheel torque command and the distributed right wheel torque command using the determined differential control amount; and
controlling, by the controller, the torque applied to the left wheel and the torque applied to the right wheel when the vehicle is turning based on a corrected final left wheel torque command and a corrected right wheel torque command,
wherein the determining of the differential control amount includes determining the differential control amount to be a function of steering angle information and a derivative of the steering angle information as the steering input information of the driver, and
wherein the differential control amount is determined to be a value obtained by multiplying terms of the steering angle information and the derivative of the steering angle information by preset coefficients, respectively, and adding the terms.
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