1 ) Control method for of a vehicle with an automatic manual transmission, the method for controlling during a gear shifting or during a drive-away, the method for controlling an automatic manual transmission which comprises a gearbox which is provided with at least one primary shaft and at least one secondary shaft connected to driving wheels and at least one clutch, which is interposed between the primary shaft of the gearbox and a drive shaft of an engine the control, the method comprising: determining, during a design phase, a nominal transmissibility function (FT) of the clutch, which provides the torque delivered by the clutch according to the degree of opening of the clutch; determining, during a design phase, a model of the engine; determining a target torque (T C-TAR ) for transmission through the clutch during the gear shifting or during the drive-away; making the clutch pursue the target torque (T C-TAR ) that has to be transmitted through the clutch by using the transmissibility function (FT); determining a target engine torque (T E-TAR ) of the engine according to the target torque (T C-TAR ) for transmission through the clutch; making the engine pursue the target engine torque (T E-TAR ) of the engine by using a feedforward control based on the model of the engine; updating, when the clutch is operated in opening or closure, the transmissibility function (FT) of the clutch by data determined using the model of the engine which is considered as a true reference such that the transmissibility function (FT) and the model of the engine have the same type of errors; and using for the next control of the clutch the transmissibility function (FT) which has been updated having as a true reference the model of the engine.