To suppress variation of a damping force to be generated in gear change in a transmission attached on a rotating motor under regenerative control in breaking a vehicle, and to more smoothly perform gear change in the transmission.
When the transmission attached to a motor under regenerative control in damping is in a Hi gear position; a regenerative rate k for regenerating the motor using the kinetic energy of the vehicle as power is set at a value k2 smaller than a value k1 at which the transmission is in a Lo state (S170), and the motor and a hydraulic brake are controlled (S210-S250). Thus, since a torque for replacing the damping torque of the motor with a breaking torque Tb* is reduced in gear change in the transmission, variation in torque (variation in damping force) can be suppressed which may be generated in replacing the damping torque with the breaking torque Tb*, and the gear change in the transmission can be smoothly performed.
KAMIOKA KIYOSHIRO
YAMAMOTO MASAYA
OKASAKA KAZUOMI