VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD

A vehicle control apparatus includes: a sensor configured to sense a current value and a voltage value applied to a motor of an actuator of an electronic parking brake (EPB) device; a controller configured to: estimate a speed value of the motor based on the sensed current value and the sensed voltage value; calculate a moving distance value of a spindle of the actuator based on the estimated speed value of the motor; estimate a position value of the spindle based on the calculated moving distance value of the spindle; estimate an EPB clamping force that acts on a brake disc of the EPB device based on the estimated position value of the spindle; calculate an EPB clamping force error compensation value between the estimated EPB clamping force value and a measured EPB clamping force value; and transmit, to the EPB device, a parking force compensation command on which the calculated EPB clamping force error compensation value is reflected to compensate for a parking force of the EPB device.