DRIVING TORQUE COMMAND GENERATING APPARATUS AND METHOD OF ECO-FRIENDLY VEHICLE

A driving torque command generating apparatus of a vehicle may include: a driving input sensor configured to detect a driving input value of a driver, including a pedal input value, in response to a manipulation of an accelerator pedal of the vehicle; a motor speed sensor configured to detect a motor speed of a drive motor of the vehicle; a wheel speed sensor configured to detect a wheel speed of a wheel of the vehicle; and a controller configured to obtain torsional state observation value information, which indicates a torsional state observation value derived from a vehicle drive system of the vehicle, according to the detected motor speed, the detected wheel speed, and a previously-generated motor torque command, and to generate a motor torque command based on the detected driving input value and the obtained torsional state observation value information.