Hybrid vehicle

A hybrid vehicle comprising:

• an engine;
• a first motor generator and a second motor generator each including a rotor provided with a permanent magnet;
• an output shaft mechanically connected to the rotor of the second motor generator and drive wheels;
• a planetary gear device mechanically coupling a crankshaft of the engine, the rotor of the first motor generator and the output shaft;
• first and second rotation angle sensors provided to the first motor generator and the second motor generator, respectively;
• first and second current sensors provided to the first motor generator and the second motor generator, respectively;
• a rotation detection sensor provided to the crankshaft;
• first and second inverters that control an output of the first motor generator and an output of the second motor generator, respectively;
• a power storage that transmits and receives electric power to and from the first motor generator and the second motor generator through the first and second inverters;
• and
• an electronic control unit programmed to, in a running mode in which an abnormality occurs in one rotation angle sensor of the first and second rotation angle sensors and an other rotation angle sensor of the first and second rotation angle sensors is normal during running of the vehicle, control an output of one motor generator of the first motor generator and the second motor generator, wherein the one motor generator corresponds to the one rotation angle sensor,
• the electronic control unit being programmed to, during the running of the vehicle:
• (i) periodically calculate an estimated rotation angle speed of the one motor generator based on a gear ratio in the planetary gear device, a detected value of the rotation detection sensor, and a detected value of the other rotation angle sensor of the first and second rotation angle sensors;
• (ii) periodically calculate an estimated electric angle by integrating an estimated rotation angle change amount calculated from the estimated rotation angle speed;
• and
• (iii) periodically generate a control command for one inverter of the first and second inverters which corresponds to the one motor generator, by use of the estimated electric angle,
• the estimated electric angle being calculated in each period by correcting a sum of the estimated electric angle in a previous period and the estimated rotation angle change amount between the previous period and a present period, with an electric angle error calculated and estimated from the control command for the one inverter and a current value detected by one current sensor of the first and second current sensors which is provided to the one motor generator.