Hybrid vehicle and control method thereof

A hybrid vehicle, comprising:

• an internal combustion engine;
• a first rotating electrical machine;
• a planetary gear mechanism in which the internal combustion engine, the first rotating electrical machine, and an output shaft are connected;
• a second rotating electrical machine connected to the output shaft;
• a power storage device capable of storing electric power generated by the first rotating electrical machine and electric power generated by the second rotating electrical machine;
• and
• a control device that controls the internal combustion engine and the first and second rotating electrical machines, wherein
• the control device
• controls the first and second rotating electrical machines so that input power to the power storage device does not exceed an input limit value indicating a limit of the input power,
• controls the first rotating electrical machine and the internal combustion engine so that a rotational speed of the internal combustion engine approaches a target when the internal combustion engine is operating under load, and
• under a situation of a vehicle downhill movement where the hybrid vehicle moves backward while generating torque in a forward direction by the second rotating electrical machine, when the input limit value is equal to or less than a threshold value and the internal combustion engine is operating under load, the control device suppresses a power generation amount of the first rotating electrical machine to be equal to or less than a predetermined value.