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

A vehicle controlling method for a vehicle which comprises an engine, a driving motor connected to the engine, a first clutch connected between the engine and the driving motor, a start motor connected to the engine, a transmission connected to the driving motor, and a second clutch connected between the driving motor and the transmission, the method comprising:

• determining switching to a hybrid electric vehicle (HEV) mode while the vehicle is driven in an electric vehicle (EV) mode;
• and
• performing one of a synchronized connection control or a launch slip control when the switching to the HEV mode is determined,
• wherein the launch slip control comprises:
• a control to perform one of a first slip control or a second slip control based on a determination whether an available torque of the driving motor is equal to or greater than a first predetermined value;
• and
• a synchronization control to synchronize a speed of the engine and a speed of the driving motor,
• wherein the first predetermined value is a value determined based on a driving request torque, wherein the first slip control is performed in response to a determination that the available torque of the driving motor is greater than the first predetermined value, and wherein the second slip control is performed in response to a determination that the available torque of the driving motor is equal to or less than the first predetermined value.