Vehicle and method for controlling vehicle

This vehicle is provided with a shift sensor and an ECU (800) that switches a shift range on the basis of the combination of shift signals received from the shift sensor. The ECU includes a determination unit (810) and a switching unit (820). The determination unit (810) determines whether or not to execute a first limp-home driving that holds the shift range from before the occurrence of a shift abnormality on the basis of the change appearance (number and type of changed shift signals) of a shift signal pattern. If a shift abnormality has arisen, when the execution of the first limp-home driving is permitted, a switching unit (820) executes the first limp-home driving and holds the shift range from before the occurrence of the shift abnormality, and when the execution of the first limp-home driving is prohibited, the switching unit (820) executes a second limp-home driving and switches the shift range to an N range.