Vehicle and method of controlling turning thereof

A vehicle comprising:

• a plurality of wheels including a driving wheel;
• an accelerator pedal;
• a brake pedal;
• a steering wheel configured to be manipulated to cause a turning of the vehicle;
• a lateral acceleration sensor configured to obtain a lateral acceleration of the vehicle during the turning;
• a driving source configured to supply a driving force to the driving wheel;
• a driving source controller configured to control the driving source;
• and
• a turning control apparatus configured to control the turning, wherein the turning control apparatus comprises:
• a first compensator configured to determine a first compensation torque based on a demanded torque and a lateral acceleration rate of change during the turning, the demanded torque being based on a manipulation amount of the accelerator pedal or the brake pedal and the lateral acceleration rate of change obtained by use of the lateral acceleration sensor;
• and
• a second compensator configured to determine a second compensation torque for preventing wheel slip of the driving wheel based on an actual vehicle behavior and a first compensated demanded torque that is obtained by applying the first compensation torque to the demanded torque, the actual vehicle behavior including an actual speed of the driving wheel;
• wherein the driving source controller is configured to control the driving source based on a second compensated demanded torque that is obtained by applying the second compensation torque to the first compensated demanded torque so that the turning of the vehicle is effected by the second compensated demanded torque.

A vehicle comprising:

• a plurality of wheels including a driving wheel;
• an accelerator pedal;
• a brake pedal;
• a steering wheel;
• a driving source;
• a driving source controller;
• a lateral acceleration sensor;
• a processor;
• a non-transitory storage medium coupled to the processor, the storage medium storing instructions that, when executed by the processor, cause the processor to:
• determine a demanded torque based on a manipulation amount of the accelerator pedal or the brake pedal of the vehicle, the demanded torque being determined in response to a driver manipulating the steering wheel for turning the vehicle;
• determine a first compensation torque based on a lateral acceleration rate of change during turning, the lateral acceleration rate of change based on a lateral acceleration rate of the vehicle obtained by the lateral acceleration sensor during the turning;
• determine a first compensated demanded torque by applying the first compensation torque to the demanded torque;
• determine a second compensation torque for preventing wheel slip of the 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;
• determine a second compensated demanded torque by applying the second compensation torque to the first compensated demanded torque;
• and
• provide the second compensated demanded torque to the driving source controller so that the driving source controller controls the driving source based on the second compensated demanded torque while the vehicle is being turned.