A hybrid vehicle is equipped with a required driving force acquiring element 22 which obtains a required driving force necessary to be output, and an electric motor driving force acquiring element 23 which acquires a maximum electric motor driving force Tm capable of being output by the force output from an electric motor MG according to each speed stage, taking into consideration a remaining capacity of an electric storage device BATT. When the required driving force Tq is equal to or smaller than the maximum electric motor driving force Tm, a highest speed stage in which the electric motor MG is capable of outputting the required driving force Tq is determined, an automatic transmission 1 is controlled so that the determined speed stage is set, and the vehicle is made to travel only by the force of the electric motor MG.