A work vehicle includes a control unit having a motor switch control unit and a motor command determining unit. The motor switch control unit controls a motor switching mechanism so that a third motor connects to a first motor when a first rotation speed is less than a second rotation speed. The first rotation speed is the rotation speed of the first motor corresponding to that of a rotating shaft of the third motor. The second rotation speed is the rotation speed of the second motor corresponding to that of a rotating shaft of the third motor. When the third motor is connected to the first motor, the motor command determining unit determines a command torque for the first motor and the third motor so that the command torque for the third motor is no more than the command torque for the first motor.