Method of controlling drive system torque of electric vehicle

A vehicle of controlling a drive system torque of the vehicle, the vehicle comprising:

• a driving system including a driving device configured for driving front and rear wheels of the vehicle;
• and
• a controller configured for:
• determining an entire torque command required for travel of the vehicle;
• determining whether a plurality of predetermined entry conditions for entering a responsiveness priority mode of the vehicle are satisfied in a predetermined order based on vehicle driving information in a state in which control of a power priority mode in which front wheel torque control and rear wheel torque control are performed using a front wheel torque command and a rear wheel torque command respectively is performed;
• and
• transitioning a mode to the responsiveness priority mode in which the front wheel torque control and the rear wheel torque control are performed using the front wheel torque command and the rear wheel torque command for evading a backlash band, which is a torque region in which backlash of the drive system occurs, in response that the plurality of entry conditions are sequentially satisfied and performing control of the responsiveness priority mode,
• wherein the vehicle driving information for determining whether the plurality of entry conditions are satisfied includes a brake pedal position input value, a vehicle longitudinal acceleration, a steering wheel angle which is a steering input value, a vehicle transverse acceleration, the entire torque command, and an accelerator position input value,
• wherein the controller determines whether each of the plurality of entry conditions is satisfied based on a result of comparing each of the vehicle driving information with a respective preset threshold stored in a memory, and sequentially determines whether the entry conditions are satisfied in an order of a first entry condition, a second entry condition, and a third entry condition,
• wherein the plurality of entry conditions include:
• the first entry condition in which the brake pedal position input value is greater than a preset brake input threshold and an absolute value of the vehicle longitudinal acceleration is greater than a preset longitudinal acceleration threshold;
• the second entry condition in which the steering wheel angle is greater than a preset steering threshold and an absolute value of the vehicle transverse acceleration is greater than a preset transverse acceleration threshold;
• and
• the third entry condition in which there is no brake pedal position input or an absolute value of the entire torque command is smaller than a preset entry determination torque threshold.