A diesel engine is possible solution for carbon dioxide (CO2) reduction from automobiles. However, it is necessary for a diesel engine vehicle to reduce nitrogen oxide (NOx) emission. Therefore, this research focused on a Urea-selective catalytic reduction (urea-SCR) system as an after-treatment system to convert NOx and proposes the control method of the urea-SCR system based on the output of an ammonia (NH3) sensor.By maximizing NH3 storage rate of the SCR, conversion performance is maximized. To maximize the NH3 storage rate, an NH3 sensor is installed downstream of the SCR. The amount of urea-solution is controlled to keep NH3 slip detected by the sensor. Thus, the NH3 storage amount in the SCR or the SCRF (SCR on filter) can be maximized. The estimation and the control of NH3 storage amount is also used to cause NH3 slip immediately. NH3 storage capacity changes with catalyst temperature. In a transient state, temperature distribution occurs in the SCR catalyst. For this reason, the catalyst is divided virtually. Then, by performing estimation of temperature discretely, the estimation of NH3 storage amount can be accurately estimated.This system was installed in a passenger vehicle equipped with a diesel engine. Virtual segment temperature estimation could improve the estimation accuracy of NH3 storage amount and contributed to reduce the tail-pipe NOx to Euro-6 level.