1. A system for controlling a vehicle of construction equipment, comprising: an engine; a hydraulic pump operated by power supplied from the engine; one or more actuators driven by a hydraulic pressure discharged from the hydraulic pump; a hydraulic pump control device including circuitry configured to: calculate a compensation torque according to a hydraulic pump torque and an engine speed error between an actual engine RPM and a target engine RPM; compensate for the hydraulic pump torque with the calculated compensation torque; and output a compensated hydraulic pump torque as a target engine torque; and an engine control circuit configured to control a torque of the engine based on the outputted target engine torque.