To prevent abrupt variation in engine rotation when regeneration energy exceeds chargeable power of an energy storage device.
The hybrid vehicle comprising an engine 1, a motor 2 and an energy storage device 6 for delivering/receiving power to/from the motor 2 and transmitting power from at least any one of the engine 1 and the motor 2 to the output shaft is further provided with a means 10 for detecting the energy storage state of the energy storage device 6, a means 9 for estimating the quantity of regeneration energy due to regenerative brake from the operating state of the vehicle, and a means 9 for limiting regeneration power depending on the detected energy storage state and the estimated regeneration energy. The regeneration power limit value operating means 9 operates a power limit value depending on the quantity of regeneration energy when a decision is made that the quantity of regeneration energy estimated by the quantity of regeneration energy estimating means 9 exceeds a chargeable quantity being estimated from the energy storage state detected by the energy storage state detecting means 10.
IWANO HIROSHI
YAMAGUCHI TAKEZO
WATANABE HIDEAKI
Yoshio Matsuda