To make the parallel hybrid electrical vehicle (PHEV) equipped with automatic mechanical transmission (AMT) shift without disengaging clutch, the speed and the torque of the engine and the motor must be controlled precisely and reasonably. Because the engine and the motor all equipped before the AMT, the input shaft moment of inertia of the transmission is great. To ensure the synchronizer of the transmission disengage with a small force and reduce the tooth wear of the synchronizer, we must control the torque of the motor based on different conditions to make the AMT work with small torque transmission before shifting. In view of the uncertainty and complexity of the system, we use ANFIS method to determine the target torque of the motor to make sure the synchronizer disengages with the transmission transferring little torque. Finally, we make a vehicle simulation carried out by the software “cruise” and prove that the method is feasible.