One control mode is selected from a plurality of control modes each setting a target value of a primary pulley revolution speed NIN and prioritized in a predetermined order. When the control mode is changed, the target value of the primary pulley revolution speed NIN is set so as to vary from the target value set in the control mode before change to the target value set in the control mode after change in accordance with the control mode that is higher in priority among the control modes before and after change. A continuously variable transmission is controlled such that the primary pulley revolution speed NIN reaches the set target value.