Parenting Without Yelling
It starts by seeing your children as separate human beings and you want them to interact with the world in general on a very rational level and you want them to be able to accept the power of the spoken word for what the words really mean.
I think there is a sense of disrespect when you're yelling, human disrespect. My husband and I tried to rely on the logical consequences of things. Step one is to ask or tell the child to stop the misbehavior -- but step two is not to yell, but to find the natural consequence for that misbehavior.
Along with this you have to be willing to be inconvenienced sometimes. If your kids are fighting in the backseat while you're trying to drive, you have to be willing to follow through.