An altitude calculation unit 44 estimates an inclination of a road from vehicle speed and vehicle drive torque, and calculates altitude of a vehicle. A battery management unit 43 calculate difference between average altitude determined from the past altitude history and the present altitude and varies a target value of battery charging rate or upper and lower limit values thereof in response to the difference. Charging and discharging command value is calculated in response to difference between charging rate detection value and the target value or the upper and lower limit values. An integrated control unit 22 sets output share between an engine and a motor based on vehicle target drive torque calculated by a target toque determination unit 21 and charging and discharging command from the battery management unit 43, determines an optimum operation point of the engine and issues a control command to the engine and the motor. Thereby, even when a travelling route ahead of the vehicle is not set, a possible prevention of regenerative braking due to full charging during downhill rolling is avoided and a fuel economy for a hybrid vehicle is improved in total.