HYBRID VEHICLE AND CONTROL METHOD THEREOF

A hybrid vehicle is provided and includes an input that receives user selection for terrain mode and a HSG connected to the engine to operate as a start motor to turn on the engine. The HSG operates as a generator that performs idle charging when the engine is turned on. A battery is electrically connected to the HSG. A controller configured perform idle charging when SOC of the battery is less than or equal to a first SOC through the HSG by turning on the engine.