IntroductionCurrent studies mostly realize local single-condition optimization without full-process bidirectional coordinated control, failing to balance smoothness, durability and response speed simultaneously.MethodsComplete bidirectional switching workflows for single-motor independent drive, torque coupling and speed coupling modes are designed with calibrated torque, speed and pressure thresholds; a multi-objective function containing impact intensity, sliding friction work and switching time is built with hierarchical hard/soft constraints, and MPC rolling optimization is adopted to solve the constrained problem; comparative simulations, anti-disturbance robustness tests and real-time performance evaluation are implemented on MATLAB/Simulink.ResultsThe peak impact intensity under all conditions is controlled within 8.0 m/s3 much lower than the industry limit. Compared with traditional SQP single-objective optimization, the average impact reduces by 38.8%, total sliding friction work cuts by 19.1%, switching response speeds up by 17.0%, and the mode switching success rate reaches 99.6%. Under ±30% parameter perturbations, the maximum impact change rate is merely 7.4%, and the algorithm single-step delay is 0.6 ms with only 28.6% hardware resource occupation, fully meeting vehicle real-time control demands.DiscussionThe presented strategy significantly suppresses switching shock and enhances system robustness, providing theoretical and technical support for dual-drive transmission control. Only simulation verification is completed at present; subsequent hardware-in-the-loop, powertrain bench and real vehicle road tests will be conducted to further verify its practical engineering performance.