Patent ID: 8219304

Claim:
A vehicle, comprising: a differential mechanism having a first rotary element coupled to a first rotating electrical machine, a second rotary element coupled to a second rotating electrical machine, and a third rotary element coupled to an engine; a wheel to which torque is transmitted from the second rotary element; a power storage mechanism for storing electric power to be supplied to the second rotating electrical machine; an operation unit that; controls any one of the second rotating electrical machine and the engine such that the controlled one of the second rotating electrical machine and the engine outputs the torque which reduces vibrations of the vehicle, calculates torque to be outputted from the second rotating electrical machine, by factoring in the torque, which reduces vibrations of the vehicle, calculates a limit value of a charging electric power value of the power storage mechanism, calculates a limit value of a discharging electric power value of the power storage mechanism, changes a gain in accordance with at least any one of the limit value of the charging electric power value and the limit value of the discharging electric power value, calculates torque requested by a driver, and calculates the torque which reduces vibrations of the vehicle, by using a product of the torque requested by the driver and the gain.