1. An automatic transmission control device comprising: a plurality of torque transmission means provided between input and output shafts of a gear type transmission, the torque transmission means of at least one gear speed being set as a friction clutch, the torque transmission means of the other gear speed being set as a claw clutch, and the friction clutch being controlled when a speed is changed from one gear speed to the other; learning determination means provided to determine a state of the claw clutch released during the speed changing; and learning operation means provided to adjust the starting time of releasing the claw clutch based on the results of the determination made by the learning determination means.