Vehicle having a clutch provided in a torque transmission path; a clutch actuation mechanism for changing relative positions of a drive-side member and a driven-side member of the clutch; a clutch position detector for detecting a position of the clutch actuation mechanism as a clutch position (Pc); a torque obtaining section for obtaining torque transmitted from the drive-side member to a downstream mechanism in the torque transmission path as an actual transmission torque (Tac), the downstream mechanism including the driven-side member; and a failure detecting section for detecting a failure of the clutch based on the transmission torque (Tac) and the clutch position (Pc), characterized in that the failure detecting section includes a condition determining section for determining whether or not a vehicle operating condition satisfies a predetermined condition, and based on the determination result, the failure detection section implements the processing for detecting a failure of the clutch; - the predetermined condition relates to a vehicle speed, or the predetermined condition relates to a difference in rotational speed between the drive-side member and the driven-side member of the clutch, or wherein the predetermined condition relates to an amount of the actual transmission torque, or - it is provided a control unit for actuating the clutch actuation mechanism according to a difference between the actual transmission torque and the target transmission torque that is supposed to be transmitted from the drive-side member to the downstream mechanism in order to control the relative positions, wherein the predetermined condition relates to the difference between the target torque and the transmission torque. a clutch provided in a torque transmission path; a clutch actuation mechanism for changing relative positions of a drive-side member and a driven-side member of the clutch; a clutch position detector for detecting a position of the clutch actuation mechanism as a clutch position (Pc); a torque obtaining section for obtaining torque transmitted from the drive-side member to a downstream mechanism in the torque transmission path as an actual transmission torque (Tac), the downstream mechanism including the driven-side member; and a failure detecting section for detecting a failure of the clutch based on the transmission torque (Tac) and the clutch position (Pc), characterized in that the failure detecting section includes a condition determining section for determining whether or not a vehicle operating condition satisfies a predetermined condition, and based on the determination result, the failure detection section implements the processing for detecting a failure of the clutch; - the predetermined condition relates to a vehicle speed, or the predetermined condition relates to a difference in rotational speed between the drive-side member and the driven-side member of the clutch, or wherein the predetermined condition relates to an amount of the actual transmission torque, or - it is provided a control unit for actuating the clutch actuation mechanism according to a difference between the actual transmission torque and the target transmission torque that is supposed to be transmitted from the drive-side member to the downstream mechanism in order to control the relative positions, wherein the predetermined condition relates to the difference between the target torque and the transmission torque. - the predetermined condition relates to a vehicle speed, or the predetermined condition relates to a difference in rotational speed between the drive-side member and the driven-side member of the clutch, or wherein the predetermined condition relates to an amount of the actual transmission torque, or - it is provided a control unit for actuating the clutch actuation mechanism according to a difference between the actual transmission torque and the target transmission torque that is supposed to be transmitted from the drive-side member to the downstream mechanism in order to control the relative positions, wherein the predetermined condition relates to the difference between the target torque and the transmission torque.