Vehicle Controlling Method, Computer Readable Storing Medium with a Computer Program Code Stored therein, and Vehicle Having a Controller according to the Same

A controlling method for 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, comprises synchronizing speeds of the engine and the driving motor, and adjusting a torque of the start motor to release baulking which occurs while a connection state of the first clutch is switched to another connection state upon the speeds of the engine and the driving motor being synchronized.