The key point of the research is to improve the eco-driving performance in a hybrid truck among various types of drivers. An investigation relationship between the driver control parameters, driving performance and fuel economy has shown a potential to improve fuel economy and reduce the dispersion of fuel economy among various types of drivers by improving the vehicle longitudinal dynamics. Then, a hybrid vehicle controller consisting of an automatic gear controller and a hybrid torque distribution controller with a driving torque feedback compensator is designed. The automatic transmission controller calculates the optimal transmission gear ratio and the desired torque considering fuel economy. The hybrid torque distribution controller with a driving torque feedback compensator considering the torque response of hybrid system is designed. Finally, the effectiveness of the system is verified by simulations. The result indicates that the driving performance and fuel economy of the HEV was improved by using proposed hybrid control system.