When an engine (6) is started by causing a first motor (7) coupled to first drive wheels to motor the engine (6) while a hybrid vehicle (1) is turning with the engine (6) stopped, an electronic control unit (15) controls output torque of a second motor (11) coupled to second drive wheels, in such a direction as to curb change of a steering characteristic of the hybrid vehicle (1) due to change of drive torque of the first drive wheels induced by motoring of the engine (6) by the first motor (7).