Method and control system for improving shift feeling in automated transmissions

The invention relates to a method and a system of controlling a vehicle comprising friction clutches 203, 204 and engaging clutches 19, 20, 21 that are arranged between an input shaft and an output shaft of a gear type transmission having a plurality of gear trains. A power train unit 100 controls an output shaft torque and an input rotation speed of the transmission during changing speed by estimating or detecting input a torque to the transmission, and detecting an output rotation speed of the transmission, and setting a target shift torque during shifting gear, and setting a command value to the friction clutches 203 and 204 from the target shift torque and the input torque.