The invention discloses a power transmission system for a vehicle and the vehicle with the power transmission system. The power transmission system comprises a first input shaft, a second input shaft, a first output shaft, a second output shaft, a first motor generator and an engine, wherein driving gears are separately and fixedly arranged on each of the first input shaft and the second input shaft; driven gears are separately arranged on each of the first output shaft and the second output shaft in an empty sleeving manner, a middle idler is arranged on one of the first output shaft and the second output shaft in an empty sleeving manner, the middle idler is arranged on one of the first output shaft and the second output shaft, a transmission gear is also fixedly arranged on the same one of the first output shaft and the second output shaft,, and the middle idler is meshed with one of the driving gears; the first motor generator is connected with a motor power shaft, and a first gear of the motor power shaft and a second gear of the motor power shaft are arranged on the motor power shaft in an empty sleeving manner, the second gear of the motor power shaft is meshed with the middle idler, and the first gear of the motor power shaft is meshed with a transmission gear; the engine can be jointed with the first input shaft and/or the second input shaft. The power transmission system disclosed by the invention is simple and compact in structure, and the function of charging during parking can be realized.