In a hybrid vehicle equipped with an engine, a planetary gear mechanism linked to the output shaft of the engine and to a driveshaft, a first motor linked the planetary gear, a second motor inputting and outputting power to and from the driveshaft, and a battery inputting and outputting electric power to and from the motors, when a cooling water temperature Tw of the engine is lower than a threshold Twref, that is, the intermittent operation of the engine is prohibited, a controller performs a warm-up control on condition that a battery temperature Tb is a preset reference temperature Tα, while performing a low state of charge control on condition that a battery temperature Tb is higher than or equal to a preset reference temperature Tα and lower than a preset reference temperature Tβ. The warm-up control causes the battery to be charged and discharged by compulsion by setting a state of charge of the battery alternately to a low state of charge and to a high state of charge and ensures output of a driving force equivalent to the driving force demand for driving the vehicle within input and output limits of the battery. The low state of charge control causes the battery to be charged and discharged to approach a state of charge of the battery to a preset low state of charge that is lower than a normal state and ensures output of a driving force equivalent to the driving force demand for driving the vehicle within input and output limits of the battery.