Backlash damping device and method

The present disclosure relates to a backlash damping device and method capable of sufficiently performing gear alignment even when torque increases after a vehicle travels in a low torque range, thereby minimizing rough vibration due to backlash. The backlash damping apparatus includes: a correction determination unit configured to determine whether a torque gradient to be applied, which increases a current torque of a vehicle to a target torque, needs to be corrected in a state in which the current torque of the vehicle is maintained within a predetermined low torque range; and a torque gradient correction unit configured to determine, when it is determined that the torque gradient needs to be corrected, a corrected torque gradient, which is obtained by multiplying a correction factor by the first torque gradient to reduce a torque increase rate per hour and prolong a torque increase period, as a torque gradient at which the current torque is increased. 本公开涉及一种侧隙减振装置和方法，即使在车辆在低扭矩范围内行驶后扭矩增加时，也能够充分地执行齿轮对准，从而使因