To reduce gear hammering noise for a transmission system under various traveling conditions independent from states such as deceleration, acceleration, constant speed traveling, forward traveling, or reverse traveling.

Request torque Tc corresponding to APO or auxiliary torque Ta for eliminating a gap between engagement gear surfaces in a motor torque direction, whichever is larger, is set to motor torque Tm during starting and accelerating in which a brake pedal pressing force Bpp is made 0 at t1, and an acceleration pedal is pressed so that an acceleration opening degree APO may become constant at t2. Accordingly, at the beginning of starting, Tm=Ta is satisfied to reduce the gear hammering noise. In order to gradually reduce Ta from the maximum value Tma when VSP=0 as VSP increases, Tm reduces as VSP increases after starting. When it becomes t3 in which Tm=Tc is satisfied, Tm is controlled to be equal to the APO corresponding request torque Tc by normal control. A torque difference between Tc and Tm from t2 to t3 is commanded to a front wheels brake unit to generate brake force Tb, therefore, driving torque of the vehicle continues to match with Tc, thus preventing a driver from feeling a sense of incongruity.