Abstract: A vehicle includes an all-wheel-drive powertrain having an electric machine configured to power wheels. A controller is programmed to output a first calculated vehicle speed derived from integrating a measured longitudinal acceleration of the vehicle and output a second calculated vehicle speed based on the measured longitudinal acceleration and a speed of one of the wheels. The controller is further programmed to, responsive to a flag being present, command a speed to the electric machine that is based on the first vehicle speed to reduce wheel slip, and responsive to a flag not being present, command a speed to the electric machine that is based on the second vehicle speed to reduce wheel slip.

Abstract: Methods and system are described for changing a gear ratio of an axle gearbox that does not include friction clutches and that may or may not include synchronizers. The axle gearbox may receive propulsive force via an electric machine. The methods and systems permit the axle gearbox to be shifted from a high gear range to a low gear range while a vehicle that includes the axle gearbox is moving.

Abstract: A vehicle includes a first axle having a first electric machine, a second axle having a second electric machine and a controller. The controller is programmed to, in a user-selected four-wheel drive mode, command a first torque to the first electric machine based on a driver-demanded torque and a speed of the second axle, and command a second torque to the second electric machine based on a comparison of the driver-demanded torque and the first torque and further based on a speed of the first axle.

Abstract: A vehicle includes an all-wheel-drive powertrain having an electric machine configured to power wheels. A controller is programmed to output a first calculated vehicle speed derived from integrating a measured longitudinal acceleration of the vehicle and output a second calculated vehicle speed based on the measured longitudinal acceleration and a speed of one of the wheels. The controller is further programmed to, responsive to a flag being present, command a speed to the electric machine that is based on the first vehicle speed to reduce wheel slip, and responsive to a flag not being present, command a speed to the electric machine that is based on the second vehicle speed to reduce wheel slip.

Abstract: A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

Abstract: A vehicle with one-pedal driving mode includes a first axle having a first electric machine configured to power first wheels and a second axle having a second electric machine configured to power second wheels. A controller is programmed to, in response to a request for one-pedal driving mode, map pedal positions of the accelerator pedal to speeds of the first and second wheels such that each of the pedal positions corresponds to a driver-demanded speed of the first and second wheels, and control one or more of the electric machine so that the vehicle is propelled according to the driver-demanded speed.

Abstract: Methods and system are described for changing a driveline gear range from a lower gear range to a higher gear range. The driveline may include two electric machines and four clutches in a four wheel drive configuration. The methods and systems permit a driveline to change from a lower gear range to a higher gear range in a way that may reduce torque disturbances that may result from gear lash.

Abstract: A vehicle includes a first axle have a first electric machine, a second axle having a second electric machine and a controller. The controller is programmed to, in a user-selected four-wheel drive mode, command a first torque to the first electric machine based on a driver-demanded torque and a speed of the second axle, and command a second torque to the second electric machine based on a comparison of the driver-demanded torque and the first torque and further based on a speed of the first axle.

Abstract: A vehicle includes a primary axle powered by an actuator and a secondary axle powered by a motor. The secondary axle includes a differential, first and second halfshafts, first and second wheels, a first electric clutch selectively coupling the first wheel to the first halfshaft, and a second electric clutch selectively coupling the second wheel to the second halfshaft. A vehicle controller is programmed to: responsive to a request to activate the secondary axle and a first speed difference between the first and second wheels being less than a first threshold, engage the first and second clutches at a same time, and, in response to the request to activate the secondary axle and the first speed difference between the first and second wheels exceeding the first threshold, engage one of the clutches and then subsequently engage the other of the clutches once the one of the clutches is fully engaged.

Abstract: A vehicle electric torque vectoring system includes a traction motor, a vectoring motor, gears, and a controller. The gears transfer torque from the propulsion and vectoring motors to wheels. The controller, responsive to a step change in an unmodified torque request for the vectoring motor and a predicted torque response of the vectoring motor being greater than the unmodified torque request, commands the vectoring motor to generate torque with a modified torque request less than the unmodified torque request. The controller further, responsive to the predicted torque response becoming less than the unmodified torque request, commands the vectoring motor to generate torque with the unmodified torque request.

Abstract: Methods and system are described for changing a driveline gear range from a lower gear range to a higher gear range. The driveline may include two electric machines and four clutches in a four wheel drive configuration. The methods and systems permit a driveline to change from a lower gear range to a higher gear range in a way that may reduce torque disturbances that may result from gear lash.

Abstract: A vehicle with one-pedal driving mode includes a first axle having a first electric machine configured to power first wheels and a second axle having a second electric machine configured to power second wheels. A controller is programmed to, in response to a request for one-pedal driving mode, map pedal positions of the accelerator pedal to speeds of the first and second wheels such that each of the pedal positions corresponds to a driver-demanded speed of the first and second wheels, and control one or more of the electric machine so that the vehicle is propelled according to the driver-demanded speed.

Abstract: A vehicle includes a primary axle powered by an actuator and a secondary axle powered by a motor. The secondary axle includes a differential, first and second halfshafs, first and second wheels, a first electric clutch selectively coupling the first wheel to the first halfshaft, and a second electric clutch selectively coupling the second wheel to the second halfshaft. A vehicle controller is programmed to: responsive to a request to activate the secondary axle and a first speed difference between the first and second wheels being less than a first threshold, engage the first and second clutches at a same time, and, in response to the request to activate the secondary axle and the first speed difference between the first and second wheels exceeding the first threshold, engage one of the clutches and then subsequently engage the other of the clutches once the one of the clutches is fully engaged.

Abstract: Methods and system are described for changing a gear ratio of an axle gearbox that does not include friction clutches and that may or may not include synchronizers. The axle gearbox may receive propulsive force via an electric machine. The methods and systems permit the axle gearbox to be shifted from a high gear range to a low gear range while a vehicle that includes the axle gearbox is moving.

Abstract: A vehicle electric torque vectoring system includes a traction motor, a vectoring motor, gears, and a controller. The gears transfer torque from the propulsion and vectoring motors to wheels. The controller, responsive to a step change in an unmodified torque request for the vectoring motor and a predicted torque response of the vectoring motor being greater than the unmodified torque request, commands the vectoring motor to generate torque with a modified torque request less than the unmodified torque request. The controller further, responsive to the predicted torque response becoming less than the unmodified torque request, commands the vectoring motor to generate torque with the unmodified torque request.

Abstract: Methods and systems to operate a hybrid vehicle in a controlled lateral vehicle slip mode are described. The lateral vehicle slip mode may adjust torques applied to a vehicle's front wheels and operation of transmission clutches to induce lateral vehicle slip when requested. The vehicle may exit the lateral vehicle slip mode in response to applying vehicle brakes or releasing a vehicle accelerator pedal.

Abstract: An electrified axle system includes a pair of wheels, a super positioning torque vectoring differential coupled between the wheels, and a controller. The super positioning torque vectoring differential includes a traction motor and a vectoring motor. The controller operates the vectoring motor in speed control mode to reduce a speed difference between the wheels responsive to the difference exceeding a threshold, and operates the vectoring motor in torque control mode responsive to the difference falling within a target range and an accelerator pedal position achieving a value that depends on lateral acceleration associated with the system.

Abstract: Methods and systems are provided for operating a hybrid vehicle during operating conditions where vehicle braking is requested. In one example, regenerative braking is allocated to vehicle axles responsive to wheel torques of respective vehicle axles in response to an anti-lock braking system being activated. Additionally, friction braking torque is allocated to vehicle axles responsive to the anti-lock braking system being activated.

Abstract: A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

Abstract: A vehicle includes primary and secondary axles including primary and secondary electric machines, respectively. A vehicle controller is programmed to, responsive to a braking torque request, command regenerative torques, that are a proportion of the braking torque request, to the electric machines such that the proportion commanded to the secondary electric machine decreases responsive to lateral acceleration of the vehicle increasing.