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

1 . 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.

2 . A computer-readable recording medium storing one or more computer program codes for performing the method of claim 1 .

3 . The method of claim 1 , wherein the second slip control comprises a plurality of controls which are determined based on an increase rate per time of the driving request torque,

the second slip control include a first adjustment control and a second adjustment control, the first adjustment control corresponding to a case in which the increase rate per time of the driving request torque exceeds a second predetermined value, and the second adjustment control corresponding to a case in which the increase rate per time of the driving request torque is equal to or less than the second predetermined value.

4 . The method of claim 3 , wherein

the second predetermined value is a threshold used to compare a difference between the driving request torque at subsequent time intervals for determining the increase rate per time of the driving request torque.

5 . The method of claim 3 , wherein the first adjustment control comprises:

determining an adjusted driving request torque by adjusting the driving request torque, and

adjusting a transmission torque of the second clutch to the adjusted driving request torque.

6 . The method of claim 3 , wherein the second adjustment control comprises: adjusting a transmission torque of the second clutch to be less than the driving request torque.

7 . The method of claim 1 , wherein the first slip control comprises: adjusting a transmission torque of the second clutch to the driving request torque.

8 . The method of claim 1 , wherein the synchronization control comprises: increasing the speed of the engine to a predetermined speed or higher and controlling the speed of the driving motor to synchronize with the speed of the engine.

9 . The method of claim 8 , wherein the increasing the speed of the engine comprises: increasing the speed of the engine using the start motor.

10 . The method of claim 8 , wherein the controlling the speed of the driving motor comprises: increasing a torque of the driving motor to a maximum available torque.

11 . The method of claim 1 , further comprising: determining one of the synchronized connection control or the launch slip control according to an input speed of the transmission before performing one of the synchronized connection control or the launch slip control.

12 . The method of claim 11 , wherein the determining one of the synchronized connection control or the launch slip control comprises: determining the synchronized connection control in response to a determination of a first condition or a second condition wherein the first condition represents that the input speed of the transmission is higher than a predetermined minimum speed for preventing engine stall and the second condition represents that the input speed of the transmission is equal to or lower than the predetermined minimum speed for preventing engine stall and the input speed of the transmission is possible to be increased to the predetermined minimum speed for preventing engine stall by the available torque of the driving motor.

13 . The method of claim 12 , wherein the vehicle comprises a battery configured to supply electricity to the driving motor and the start motor is further configured to charge the battery with power generated by the engine, and wherein the available torque is determined based on a maximum torque of the driving motor, a state of charge (SOC) of the battery, and a chargeable amount by the start motor.

14 . The method of claim 1 , wherein the synchronized connection control comprises:

controlling the driving motor based on a driving request torque and increasing a speed of the driving motor to or over a minimum speed for preventing engine stall with the second clutch maintained in a non-slip connection state;

controlling the engine to synchronize the speed of the engine with the speed of the driving motor at or over the minimum speed for preventing stall with the first clutch maintained in a released state; and

switching the first clutch to a connection state after the speed of the engine and the speed of the driving motor are synchronized.

15 . The method of claim 1 , further comprising: determining one of the synchronized connection control or the launch slip control based on an available torque of the driving motor before performing one of the synchronized connection control and the launch slip control.

16 . The method of claim 1 , wherein the launch slip control further comprises: maintaining the first clutch in a connection state and the second clutch in a slip connection state until the driving motor and an input speed of the transmission are synchronized after the synchronization control.

17 . A vehicle, comprising:

an engine;

a driving motor connected to the engine;

a dog clutch connected between the engine and the driving motor;

a start motor connected to the engine;

a transmission comprising a friction clutch connected to the driving motor and configured to change a speed of the driving motor;

a vehicle controller comprising at least one processor and a computer-readable recording medium storing one or more computer program codes which causes by being executed by the at least processor the vehicle controller to:

determine switching to a hybrid electric vehicle (HEV) mode while the vehicle is driven in an electric vehicle (EV) mode; and

perform 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 according to 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.

18 . The vehicle of claim 17 , wherein the transmission comprises a dual clutch transmission DCT.