A method of controlling a hybrid vehicle that is driven by at least one of an engine and a motor generator, the motor generator exchanging power with a battery. The method includes determining whether the vehicle is accelerating, decelerating, or traveling at a constant speed; selecting a range of a state of charge of the battery based on whether the vehicle is accelerating, decelerating, or traveling at a constant speed; and controlling at least one of: torque and number of rotations of the engine and the motor generator, such that the power being exchanged between the battery and the motor generator is such that the state of charge is within the selected range.