Method of controlling the declutching of a sliding gear

A control method for controlling declutching of a sliding gear of a vehicle gearbox with dogs that is constrained to rotate with a shaft of the vehicle gearbox on which the sliding gear can move axially under control of a powered shift actuator between a neutral declutched position and at least one engaged position where the sliding gear is engaged on a pinion rigidly connected to the shaft in order to transmit to a vehicle wheel the torque received from at least two distinct power sources, the control method comprising:

• sending a zero torque request to all the power sources of the vehicle,
• sending a declutching instruction to the sliding gear,
• estimating a resistance torque on the dogs of the sliding gear in absence of rapid declutching,
• calculating a residual torque on the dogs as a function of a calculated resistance torque and an anti-disengagement angle of the resistance torque on the dogs,
• cancelling the residual torque by applying at least one of two opposing cancellation torques to the sliding gear, and
• declutching the sliding gear.