Driving apparatus and driving control method

A driving control method of controlling a driving apparatus to travel, the driving control method performed by at least one processor and comprising:

• obtaining, at least one sensing result by sensing, with at least one sensor, surroundings of a vehicle body of the driving apparatus;
• and
• controlling the vehicle body to travel by referring to the at least one sensing result,
• wherein the sensing of the surroundings of the vehicle body comprises generating vision information regarding a travel route of the vehicle body,
• wherein the controlling of the vehicle body to travel comprises determining a road surface condition of the travel route by referring to the vision information, and adjusting a difference in driving speed between a plurality of vehicle propulsion bodies, of the driving apparatus, according to the road surface condition, and
• wherein the controlling of the vehicle body to travel further comprises determining a driving mode of the vehicle body, from among a first driving mode, a second driving mode, and a third driving mode, according to the road surface condition of the travel route, wherein the driving mode is determined as:
• the first driving mode based on a difficulty in overcoming a travel-obstruction element present on the travel route being less than a preset first threshold;
• the second driving mode based on the difficulty in overcoming the travel-obstruction element present on the travel route being greater than or equal to the preset first threshold and less than a preset second threshold;
• or
• the third driving mode based on the difficulty in overcoming the travel-obstruction element present on the travel route being greater than or equal to the preset second threshold.