A method for reducing vibration of a drive shaft of an eco-friendly vehicle includes calculating a model velocity of the drive shaft, obtaining a vibration component based on a deviation between an actual velocity of the drive shaft and the calculated model velocity, and generating a vibration reduction compensation torque for reduction in vibration of the drive shaft from the vibration component.

Aspects of the present invention relate to method and to a control system for compensating for variable inertia in a vehicle powertrain, the method comprising: determining whether a torque source is coupled to a wheel; and applying a torque change in dependence on angular acceleration associated with the torque source, in dependence on whether the torque source is coupled to the wheel.

The disclosed vehicle control device (10) is for controlling outputs of a left driving source and a right driving source, and includes a calculator (21), a storing unit (22), and a controller (23). The calculator (21) calculates an equivalent sum value corresponding to sum of a left target speed and a right target speed, and calculates an equivalent difference value corresponding to a difference between the left target speed and the right target speed. The storing unit (22) stores a sum model and a difference model. The sum model modes motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is running straight and is applied with the equivalent sum value to derive a sum instruction torque. The difference model models motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is cornering and is applied with the equivalent difference value to derive a difference instruction torque. The controller (23) controls torques of the left driving source and the right driving source, using the sum instruction torque and the difference instruction torque.