Apparatus and method for controlling vehicle stuck escape and vehicle and storage medium including the same

A method for controlling vehicle stuck escape, the method comprising:

• storing a swing control logic configured to control swing motion of a vehicle for the vehicle to escape from a stuck state thereof, in a controller;
• and
• controlling, by the controller, the swing motion of the vehicle according to the swing control logic,
• wherein the swing control logic is configured so that a slope characteristic of one cycle of a forward torque pattern which is in a forward direction with respect to the swing motion of the vehicle and a slope characteristic of one cycle of a reverse torque pattern which is in a reverse direction with respect to the swing motion of the vehicle are different from each other.

A vehicle comprising:

• a first motor providing torque to a front wheel of the vehicle;
• a second motor providing torque to a rear wheel of the vehicle;
• and
• a controller storing a swing control logic configured to control swing motion of the vehicle for the vehicle to escape from a stuck state thereof and controlling the first motor and the second motor according to the swing control logic,
• wherein the swing control logic is configured so that a slope characteristic of one cycle of a forward torque pattern which is in a forward direction with respect to the swing motion of the vehicle and a slope characteristic of one cycle of a reverse torque pattern which is in a reverse direction with respect to the swing motion of the vehicle are different from each other.