An ECU executes a program including a step of determining whether a manual shift mode is active or not, a step of calculating a lower limit revolution speed based on a vehicle speed and a gear selected by a driver when the manual shift mode is active, a step of changing a target idle revolution speed from a predetermined revolution speed to the lower limit revolution speed when a required engine torque is substantially zero and the engine is not in a fuel cut state, and a step of transmitting a control signal corresponding to the target idle revolution speed to the engine.