A control method of a hybrid vehicle includes: confirming whether or not the driving mode of the vehicle is an EV mode when a controller senses shift of the position of a shift lever from the position R to the position D or from the position D to the position R; applying reverse-directional motor torque to a motor through the controller so that a motor speed is synchronized with the speed of an engagement-side clutch, as a result of confirmation of the driving mode, if the driving mode of the vehicle is the EV mode; and executing normal driving of the vehicle by applying regular-directional motor torque to the motor through the controller after synchronization of the motor speed with the engagement-side clutch speed.

According to a method for assisting reverse driving of a combination (1), an actual value for a hitch angle of the combination (1) is determined by a computing unit (6) depending on sensor data generated by a hitch angle sensor. A hitch length of a trailer (3), given by a distance between a trailer body (11) and a hitch (7) of a vehicle (2), is determined depending on environmental sensor data of the combination (1). A collision value for the hitch angle is determined by the computing unit (6) depending on the hitch length, and the safety measure is triggered by the computing unit (6) depending on the actual value and the collision value for the hitch angle.