An ECU executes a program that includes the steps of performing neutral shift control, clutch release control, and engine torque control when a shift is required, the ste of moving a shift selector shaft in a selecting direction when a gear is disengaged and a shift position is neutral even if a drive torque TQ is greater than α and a clutch stroke C is less than β, the step of performing synchro control, the step of performing clutch engagement control, and the step of performing gear engagement control.