By using engine controlled gear shifting, a manual transmissioncan be automated without using the clutch duringthe shift event.The main contribution of this paper is a novel extensionof the existing system using active handling ofdriveline resonances. The strategy is based on a modelof the transmission torque, which is derived by usingexperimental data from a heavy truck. A key step isthe design of a criterion for a controller that drives thetransmission torque to zero with damped resonances andwith a control signal realizable by the engine.The proposed solution offers a possibility to optimizethe time needed for a gear shift, which is important sincethe vehicle is free rolling when in gear-shift condition.Furthermore, neutral gear can successfully be engagedalso when facing initial driveline oscillations and loaddisturbances.