Method of controlling torque of vehicle driving device

A method of controlling torque of a vehicle driving device, comprising:

• estimating, by a controller, speed of an engine or a motor of a vehicle from vehicle driving information collected from the vehicle and calculating speed difference value between actually measured speed of the engine or the motor and the estimated speed of the engine or the motor;
• wherein the speed difference is calculated between the actually measured speed of the engine or the motor and the estimated speed of the engine or the motor in which twisting and backlash are removed;
• determining, by the controller, a nominal rate limit value according to the vehicle driving information;
• determining, by the controller, a required real-time rate correction amount according to the calculated speed difference;
• determining, by the controller, a torque command variation based on the determined nominal rate limit value and the determined required real-time rate correction amount;
• and
• after a correction in a previous control period, correcting, by the controller, a torque command in a current control period with the determined torque command variation which then enables another torque command to be determined after the correction in the current control period.