A hybrid vehicle (20; 120; 220) comprising: an engine; a first motor; a drive shaft (36; 236) coupled to the first motor and an axle; a planetary gear device including at least one planetary gear (30; 230, 240), the at least one planetary gear including rotating elements, the rotating elements being connected to the engine and the drive shaft (36; 236) such that the first motor, the engine, and the drive shaft (36; 236) are arranged in this order in a collinear diagram; a second motor mechanically coupled to the drive shaft (36; 236); a battery configured to exchange electric power with the first motor and the second motor; and an electronic control unit (24, 40, 52, 70) configured to perform control such that a motoring torque for motoring the engine is output from the first motor during starting the engine, the electronic control unit (24, 40, 52, 70) being configured to perform control such that a post-limitation torque is output from the second motor to the drive shaft (36; 236), the post-limitation torque being a torque obtained by limiting a basic torque such that a charge and discharge power of the battery is within a range of maximum allowable power of the battery and the torque from the second motor is within a range of rated torque of the second motor, the basic torque being the sum of a required torque and cancel torque, the required torque being a torque required for the drive shaft (36; 236), the cancel torque being a torque for cancelling torque applied to the drive shaft (36; 236) with the output of the motoring torque from the first motor, and the hybrid vehicle (20; 120; 220) being characterized by the electronic control unit (24, 40, 52, 70) being further configured to perform one of a first control and a second control when the basic torque is unable to be output from the second motor to the drive shaft (36; 236), the first control being a control for making a target motoring rotation speed lower than when the basic torque is output from the second motor to the drive shaft (36; 236), the target motoring rotation speed being a rotation speed of the engine for ending the output of the motoring torque from the first motor, and the second control being a control for making a motoring time shorter than when the basic torque is output from the second motor to the drive shaft (36; 236), the motoring time being a time for outputting the motoring torque from the first motor. an engine; a first motor; a drive shaft (36; 236) coupled to the first motor and an axle; a planetary gear device including at least one planetary gear (30; 230, 240), the at least one planetary gear including rotating elements, the rotating elements being connected to the engine and the drive shaft (36; 236) such that the first motor, the engine, and the drive shaft (36; 236) are arranged in this order in a collinear diagram; a second motor mechanically coupled to the drive shaft (36; 236); a battery configured to exchange electric power with the first motor and the second motor; and an electronic control unit (24, 40, 52, 70) configured to perform control such that a motoring torque for motoring the engine is output from the first motor during starting the engine, the electronic control unit (24, 40, 52, 70) being configured to perform control such that a post-limitation torque is output from the second motor to the drive shaft (36; 236), the post-limitation torque being a torque obtained by limiting a basic torque such that a charge and discharge power of the battery is within a range of maximum allowable power of the battery and the torque from the second motor is within a range of rated torque of the second motor, the basic torque being the sum of a required torque and cancel torque, the required torque being a torque required for the drive shaft (36; 236), the cancel torque being a torque for cancelling torque applied to the drive shaft (36; 236) with the output of the motoring torque from the first motor, and the hybrid vehicle (20; 120; 220) being characterized by the electronic control unit (24, 40, 52, 70) being further configured to perform one of a first control and a second control when the basic torque is unable to be output from the second motor to the drive shaft (36; 236), the first control being a control for making a target motoring rotation speed lower than when the basic torque is output from the second motor to the drive shaft (36; 236), the target motoring rotation speed being a rotation speed of the engine for ending the output of the motoring torque from the first motor, and the second control being a control for making a motoring time shorter than when the basic torque is output from the second motor to the drive shaft (36; 236), the motoring time being a time for outputting the motoring torque from the first motor.