Intermediate shaft rotating speed estimation and gear shifting control method and device, equipment and storage medium

The invention discloses an intermediate shaft rotating speed estimation and gear shifting control method and device, equipment and a storage medium, and the method comprises the steps: obtaining an input signal of a to-be-detected vehicle, and judging whether the to-be-detected vehicle enters an intermediate shaft rotating speed estimation program or not according to the input signal; when the to-be-tested vehicle enters the intermediate shaft rotating speed estimation program, estimating the rotating speed of an intermediate shaft at the gear engaging and tooth abutting moment, determining the gear engaging time, and executing gear engaging operation at the gear engaging time; when the to-be-tested vehicle does not enter the intermediate shaft rotating speed estimation program, whether the gear shifting execution state of the previous period is intermediate shaft braking or not is judged, gear engaging operation is executed according to the judgment result, repeated calibration of the compensation rotating s