Gear shifting torque coordination control method and device under dual-motor hybrid system

The invention provides a gear shifting torque coordination control method and device under a dual-motor hybrid system, and the method comprises the steps: determining whether the gear shifting supports the rolloff gear shifting without an engine or not according to the actual torque of the engine and the minimum negative torque capability of an ISG (Integrated Starter Generator) motor; roloff is conducted on the total torque of the ISG engine, and the ISG motor torque requirement and the engine torque requirement are adjusted till the total torque roloff of the ISG engine reaches 0; when it is detected that the synchronizer retreats to the neutral gear position, PID speed regulation control is conducted on the ISG engine end till it is detected that the synchronizer moves to the target position; and when the total torque of the rollonISG engine reaches the rollon total torque requirement, the total torque of the TM motor auxiliary ISG engine is controlled to meet the wheel end torque requirement of a driver.