As to driveline used two piece driveline connected by universal joint (cardan joint), second driveline order shudder occurs when vehicle launches in low gear and wide open throttle. Based secondary couple theory of single universal joint, the formulas for secondary couple calculation of two piece driveline (including multiple joint) is deduced. Then the mechanism of launch shudder is analysed based on vibration order characteristics, peak amplitude relationship between driveline and body, powertrain modal data, demonstrating that excitation source of the shudder is the secondary couple produced by universal joint. Combining subjective rating with objective data, the target of shudder is set with a measurable indicator. The influence on shudder of driveline phase, driveline torque, driveline static angle, center bearing stiffness, powerplant rear mount stiffness is theoretically analysed and experimentally proved, which provides effective measures for optimization of launch shudder. Finally, by reasonably taking optimization measures, launch shudder of a vehicle is optimized from highly severe level to acceptable level under kerb mass and gross mass.