When the plug-in hybrid electric vehicle (PHEV) starts the engine in motion process, the driving torque fluctuates greatly due to the different torque response characteristics of the motor and the engine. A torque coordinated control strategy was proposed in this paper to solve this problem. First of all, the hybrid electric vehicle power system model was established on the LMS.AMESim platform. Then, a torque coordination control strategy model of “clutch oil pressure fuzzy control + motor torque compensation + engine speed control + engine torque change rate limit” based on engine idling speed ignition was built on the Matlab/Simulink platform. Finally, based on the built co-simulation platform, the mode transition co-simulation was carried out and compared with different control strategies. The results show that the proposed mode switching control strategy can greatly improve the vehicle impact and clutch friction work, and improve the smoothness of mode transitions.