Abstract: A control system in which a judgment is made such that (i) a vehicle is in a forward drive control state, on condition that the forward/reverse drive lever is placed in the forward drive position and the actual speed ratio exceeds a specified small value in a forward drive direction, (ii) the vehicle is in a reverse drive control state on condition that the lever is placed in the reverse drive position and the actual speed ratio exceeds a specified small value in a reverse drive direction, (iii) the vehicle is in an engine brake control state, on condition that the lever is placed in the neutral position and the actual speed ratio exceeds the specified small value in the forward or reverse drive direction, (iv) the vehicle is in an FR shift control state, on condition that the lever is placed in the forward or reverse drive position and the actual speed ratio exceeds the specified small value in the reverse or forward drive direction, and (v) the vehicle is in a neutral control state, on condition that the le