The deterioration of comfort is prevented by suppressing the shifting of a timing for releasing a claw clutch due to a change in the characteristic of a friction clutch or the like at the time of torque transmission switching from the claw clutch to the friction clutch during speed changing. A start timing for releasing the claw clutch is learned by determining a state of the released claw clutch. Even when a characteristic change occurs because of a change with time, such as the response delay of an assist clutch or the like, each optimal releasing control timing is learned.