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Shift schedule determines the gear-shift timing of stepped automatic transmissions that directly affects the power performance, fuel economy, and emission of vehicle. Under the circumstance with ever increasing concerns about the issues of energy saving and environment protection, an optimized shift schedule that could make the powertrain system provide sufficient power with minimum fuel consumption and less emission has been becoming a very critical factor to improve the overall performance of vehicles equipped with stepped automatic transmission. Traditional methods usually only consider a certain unique performance index, such as power or economical performance, in a certain shift schedule, i.e., using one unique performance as optimization objective for one shift schedule.