A computer-implemented method and a control system are described for controlling the shifting of a vehicle, at least in part, according to its pitch. The method includes using a pitch-detection mechanism to determine one or more indicators of the pitch of the vehicle. The method includes receiving, at one or more computing devices, a signal associated with the pitch indicators and determining a pitch value for shifting. The method further includes determining, by the one or more computing devices, a shift procedure based upon, at least in part, the determined pitch value and implementing the shift procedure to effect a shift operation for the vehicle.