To meet the NOx limit without a penalty of fuel consumption, Urea-SCR system is currently regarded as promising NOx reduction technology for diesel engines. SCR system has to achieve maximal NOx conversion in combination with minimal $NH_3$ slip. In this study, map based open loop control for urea injection was developed and assessed in the European Transient Cycle (ETC) for heavy duty diesel engine. The basic urea quantity set-value which was calculated using the look up tables of engine out NOx, exhaust flow rate and optimum NSR resulted in NOx reduction of 80% and the average $NH_3$ slip of 24 ppm and maximum of 79 ppm. In order to reduce $NH_3$ slip, $NH_3$ storage control algorithm was applied to correct the basic urea quantity and reduced $NH_3$ slip levels to the average 15 ppm and maximum 49 ppm while keeping NOx reduction of 76%. With high and increasing SCR temperature, the $NH_3$ storage capacity decreases, which leads to $NH_3$ slip. The resulting $NH_3$ slip peak can be avoided by stopping or significantly reducing the urea injection during the SCR temperature gradient is over $30^{circ}C/min$.