Gear shifting control method, device, system, equipment and medium

The invention provides a gear shifting control method, device, system and equipment and a medium, and relates to the technical field of vehicles. The method is suitable for a TCU (Transmission Control Unit) of a vehicle provided with a coaxial tandem AMT (Automated Mechanical Transmission) dual-motor driving system. Firstly, the TCU determines whether to enter an unauthorized control mode according to the output rotating speed of an AM motor. After entering the unauthorized control mode, the TCU judges the size relation between the request output shaft torque and the TM motor response torque, and when the request output shaft torque is larger than the TM motor response torque, the AM motor is controlled to be back-twisted to 0 through the first motor control unit, and the TM motor is controlled to increase the torque to the request output shaft torque through the second motor control unit. And finally, torque distribution of the AM motor and the TM motor is completed when the AM motor is back-twisted to zero