Controller of vehicle and method of controlling vehicle

A method of controlling a vehicle,

• the vehicle including:
• a driving source that generates power;
• a driving wheel;
• a first transmitting structure located on a power transmitting path through which the power is transmitted between the driving source and the driving wheel;
• a second transmitting structure which is located on the power transmitting path and is connected to the first transmitting structure so as to be movable relative to the first transmitting structure within a range of a play;
• and
• a clutch which is located on the power transmitting path and between the driving source and the first transmitting structure and changes a power transmission rate of the power transmitted from the driving source to the first transmitting structure,
• the method comprising:
• determining whether or not a power transmitting direction between the first transmitting structure and the second transmitting structure is switched;
• and
• when it is determined that the power transmitting direction between the first transmitting structure and the second transmitting structure is switched, adjusting a power transmission rate of the clutch such that a speed difference between the first transmitting structure and the second transmitting structure is reduced.

A controller of a vehicle,

• the vehicle including:
• a power inputter including a driving source;
• a driving wheel;
• a first transmitting structure which is located on a power transmitting path and to which positive torque is given from the power inputter, the power transmitting path being a path through which power is transmitted between the power inputter and the driving wheel;
• a second transmitting structure which is located on the power transmitting path and between the first transmitting structure and the driving wheel and is connected to the first transmitting structure so as to be movable relative to the first transmitting structure in a power transmitting direction within a range of a play;
• and
• a sub power source that gives negative torque to the first transmitting structure, the negative torque being torque acting in a direction opposite to a direction in which the positive torque acts,
• the controller comprising
• processing circuitry configured to
• determine whether or not a relative position of the first transmitting structure relative to the second transmitting structure changes, and
• when it is determined that the relative position changes, control the power inputter and the sub power source such that collision force of one of the first transmitting structure and the second transmitting structure with respect to the other by the change in the relative position is reduced in at least a part of a period from a start time point of the change in the relative position to a termination time point of the change in the relative position.