Apparatus for controlling a vehicle and method thereof

A vehicle control method comprising:

• identifying, by a processor, whether a host vehicle avoids a collision based on at least one of whether a collision warning signal is generated, a steering angle of a front wheel included in the host vehicle, or a steering angular velocity of the front wheel, or any combination thereof;
• identifying, based on identifying that the host vehicle avoids the collision, a first control amount for controlling a yaw angle of the host vehicle based on a speed of the host vehicle;
• identifying that the host vehicle has stopped the avoiding the collision, based on at least one of whether generation of the collision warning signal is stopped after the host vehicle avoids the collision, the steering angle of the front wheel, the steering angular velocity of the front wheel, or a slip angle of the rear wheel, or any combination thereof;
• identifying, based on identifying that the host vehicle has stopped avoiding the collision, a feedback control amount which is a control amount of a drive motor for feedback control, according to at least one of a lateral acceleration of the host vehicle, a coefficient of friction between ground and the front wheel, a coefficient of friction between the ground and a rear wheel, a speed of the host vehicle, or the steering angle of the front wheel, or any combination thereof based on at least one of whether generation of the collision warning signal is stopped after the situation where the host vehicle is avoiding the collision, the steering angle of the front wheel, the steering angular velocity of the front wheel, or a slip angle of the rear wheel, or any combination thereof;
• identifying a second control amount for controlling a roll angle of the host vehicle based on the feedback control amount;
• and
• adjusting a front wheel control amount or a rear wheel control amount, such that the front wheel control amount and the rear wheel control amount fall within a specified control amount range based on the front wheel control amount which is identified according to the first control amount and the second control amount and is a control amount of a drive motor that controls the front wheel, the rear wheel control amount which is identified according to the first control amount and the second control amount and is a control amount of a drive motor that controls the rear wheel, and the specified control amount range.