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The HEV power train dynamic model is established based on research subject that is a coaxial parallel hybrid electric vehicle power train with automatic clutch.Based on the discrete state space model deduced from system dynamics and discrete kalman filter algorithm,the clutch torque estimation algorithm is designed.The clutch torque estimation algorithm and HEV powertrain simulation software are developed in Matlab/Simulink environment,Simulation on HEV mode-switch is carried out to examine the clutch torque estimation errors,the effect of different sampling times on clutch torque estimation is studied.The results show that the method based on kalman filter can accurately estimate the clutch torque.