When an engine (2) is in a stopped state and a vehicle is in a standstill state, a travel control unit (8a2) allows the vehicle to travel by a driving force of a rear motor (6) during a period after the brake is released until an acceleration demand determination unit (8a1) determines that acceleration is demanded for the vehicle. During the period, a startup speed determination unit (8a4) determines a startup travelling speed where the engine (2) is started up on the basis of a load which is estimated by a load estimation unit (8a3) on the basis of a current value supplied to the rear motor (6). When the travelling speed of the vehicle is equal to or greater than the startup travelling speed, a startup unit (8a5) starts up the engine (2).