includes determining whether a vehicle speed changes during an upshift calculating the change of the vehicle speed calculating a target hydraulic pressure based on the change of the vehicle speed and controlling an actual hydraulic pressure of an on coming element based on the target hydraulic pressure the target hydraulic pressure may be calculated by adding a modified hydraulic pressure proportional to the rate of change of the vehicle speed to a constant reference hydraulic pressure application_number US 94914107 A description fig1 is a graph showing actual torque and ideal torque according to the prior art with a lapse of time in an upshift as shown in fig1 when a shift begins hydraulic pressure of an off going element is reduced in a state in which hydraulic pressure of an on coming element is not sufficiently increased thus output torque is quickly reduced reduction of the output torque generated at this stage is called downfall shock after that the engine speed is reduced and engine inertia is also reduced thus torque is reduced according to the reduction of engine inertia accordingly the output torque increases and the increase of the output torque generated at this stage is called overshoot shock a release of the off.