VEHICLE AND CONTROL METHOD THEREOF

A vehicle includes a battery, a first motor configured to provide a first wheel and a second wheel with a driving force, and a second motor configured to provide the first wheel and the second wheel with different rotational forces. The vehicle also includes a controller configured to output a first torque command and a second torque command, a first motor driver and a second motor driver configured to convert power output from the battery in response to, respectively, the first torque command for the first motor and the second torque command for the second motor. The controller is configured to determine a torque limit of the first motor based on a state of charge (SoC) of the battery and a rotational speed of the first motor and a torque limit of the second motor based on the SoC of the battery and a rotational speed of the second motor.