Vehicle and a control method thereof

A method of controlling a vehicle, the method comprising:

• obtaining wheel speed information of at least one wheel;
• selecting wheel speed information from among the wheel speed information of the at least one wheel based on a driving state of the vehicle;
• and
• determining a speed of the vehicle based on the selected wheel speed information,
• wherein the selecting of the wheel speed information from among the wheel speed information of the at least one wheel comprises, if the driving state of the vehicle is determined as a state in which a driving force is generated, selecting wheel speed information including a slowest wheel speed from among the wheel speed information of the at least one wheel,
• wherein the selecting of the wheel speed information from among the wheel speed information of the at least one wheel comprises, if a wheel to which the driving force is not transferred exists in the at least one wheel, selecting wheel speed information including a wheel speed of the wheel to which the driving force is not transferred,
• wherein the determining of the speed of the vehicle comprises, if the driving state of the vehicle is determined as a state in which a predetermined brake control is applied, applying a weight to the wheel speed information of the at least one wheel based on a brake pressure applied to the at least one wheel, and
• wherein the weight applied to the wheel speed information is decided by the brake pressure and a road friction coefficient.