Vehicle controlling method, computer readable storing medium with a computer program code stored therein, and vehicle having a controller according to the same

A non-transitory computer-readable storage medium storing instructions executed by a controller in a vehicle which comprises an engine, a driving motor connected with the engine, a first clutch connected between the engine and the driving motor, a start motor connected with the engine, a transmission connected with the driving motor, and a second clutch connected between the driving motor and the transmission, to cause the controller to synchronize speeds of the engine and the driving motor, and adjust a torque of the start motor to release baulking which occurs while a connection state change of the first clutch is switched to another connection state upon the speeds of the engine and the driving motor being synchronized, wherein the torque of the start motor is adjusted to a first value, and then the torque of the start motor is adjusted to a second value when the baulking is not released with the first value.