A hybrid vehicle (20, 120) comprising: an engine; a first motor; a driveshaft coupled to an axle; a planetary gear mechanism including three rotation elements, the three rotation elements being respectively connected to three shafts of an output shaft of the engine, a rotational shaft of the first motor, and the driveshaft; a second motor configured to input power to the driveshaft and output power from the driveshaft; a battery configured to supply electric power to the first motor and the second motor; and an electronic control unit (24, 52, 70) configured to set drive power that is output to the driveshaft based on an accelerator pedal operation amount by a driver and a vehicle speed as requested drive power, the electronic control unit (24, 52, 70) being configured to control the engine, the first motor, and the second motor so as to travel by using the requested drive power, the electronic control unit (24, 52, 70) being configured to set a drivability speed, the drivability speed being a speed of the engine that is based on the accelerator pedal operation amount, the vehicle speed, and a gear stage, the electronic control unit (24, 52, 70) being configured to set upper limit power of the engine, the upper limit power being maximum power that is output from the engine when the engine is operated at the drivability speed, the electronic control unit (24, 52, 70) being configured to set upper limit drive power of the driveshaft, the upper limit drive power being drive power when the upper limit power of the engine is output to the driveshaft, the electronic control unit (24, 52, 70) being configured to set target engine power of the engine, the target engine power being power for outputting one of first power and second power to the driveshaft, the first power being lower one of the upper limit drive power and the requested drive power, the second power being lower one of third power and fourth power, the third power being power that is obtained by multiplying the upper limit drive power by the rotational speed of the driveshaft, the fourth power being power that is obtained by multiplying the requested drive power by the rotational speed of the driveshaft, and the electronic control unit (24, 52, 70) being configured to control the engine, the first motor, and the second motor such that the target engine power is output from the engine. an engine; a first motor; a driveshaft coupled to an axle; a planetary gear mechanism including three rotation elements, the three rotation elements being respectively connected to three shafts of an output shaft of the engine, a rotational shaft of the first motor, and the driveshaft; a second motor configured to input power to the driveshaft and output power from the driveshaft; a battery configured to supply electric power to the first motor and the second motor; and an electronic control unit (24, 52, 70) configured to set drive power that is output to the driveshaft based on an accelerator pedal operation amount by a driver and a vehicle speed as requested drive power, the electronic control unit (24, 52, 70) being configured to control the engine, the first motor, and the second motor so as to travel by using the requested drive power, the electronic control unit (24, 52, 70) being configured to set a drivability speed, the drivability speed being a speed of the engine that is based on the accelerator pedal operation amount, the vehicle speed, and a gear stage, the electronic control unit (24, 52, 70) being configured to set upper limit power of the engine, the upper limit power being maximum power that is output from the engine when the engine is operated at the drivability speed, the electronic control unit (24, 52, 70) being configured to set upper limit drive power of the driveshaft, the upper limit drive power being drive power when the upper limit power of the engine is output to the driveshaft, the electronic control unit (24, 52, 70) being configured to set target engine power of the engine, the target engine power being power for outputting one of first power and second power to the driveshaft, the first power being lower one of the upper limit drive power and the requested drive power, the second power being lower one of third power and fourth power, the third power being power that is obtained by multiplying the upper limit drive power by the rotational speed of the driveshaft, the fourth power being power that is obtained by multiplying the requested drive power by the rotational speed of the driveshaft, and the electronic control unit (24, 52, 70) being configured to control the engine, the first motor, and the second motor such that the target engine power is output from the engine.