Controller for vehicle and method for controlling vehicle

A controller for a vehicle, the vehicle including an engine with cylinders, a damper connected to a crankshaft of the engine, a drive force transmitting device including an input shaft connected to the damper and a rotating body configured to rotate in synchronization with the input shaft, a first sensor configured to output a detection signal indicating that the crankshaft has rotated by a predetermined angle each time the crankshaft rotates by the predetermined angle, and a second sensor configured to detect a rotation angle of the input shaft or the rotating body,

• the controller comprising:
• processing circuitry,
• wherein the processing circuitry is configured to perform:
• a first sensor detection signal acquisition process that obtains a detection signal from the first sensor;
• a first rotation angle deriving process that derives a value of a rotation angle of the crankshaft by each specified angle that is smaller than the predetermined angle by performing a Hilbert process on the detection signal from the first sensor;
• a first angular velocity deriving process that derives an angular velocity of the crankshaft as an engine angular velocity from the value of the rotation angle of the crankshaft by each specified angle;
• a first inertia torque calculation process that calculates an engine inertia torque from the engine angular velocity;
• a transmitting device angular velocity acquisition process that obtains an angular velocity of the input shaft or the rotating body as a transmitting device angular velocity from a detection signal from the second sensor;
• a resonance effect torque calculation process that calculates a resonance effect torque from the transmitting device angular velocity, the resonance effect torque resulting from resonance generated in the drive force transmitting device;
• and
• a first engine torque calculation process that calculates a sum of the resonance effect torque and the engine inertia torque as an engine torque that is an output torque of the engine.