Abstract: A transmission is shifted into a reverse state. The transmission includes a clutch. The clutch includes a pocket plate, a notch plate, a first strut housed within a pocket of the pocket plate, and a second strut housed within another pocket. A command is received to shift the transmission to reverse. It is then determined whether the at least one second strut has retracted into the pocket plate. If it remains extended, the first actuator is activated. A first rotational torque is applied to the notch plate in a direction allowing the notch plate to abut the first strut. By doing so, the second strut is released from abutting engagement with the notch plate. A second rotational torque is applied to the notch plate opposite the first rotational torque to rotate the notch plate out of engagement with the first strut, resulting in the transmission entering the reverse state.

Abstract: A method selectively locks a notch plate to a pocket plate such that the notch and pocket plates rotate together. The pocket plate includes struts that work in opposite directions. The pocket plate rotational speed and the notch plate rotational speed are identified. Once the notch plate rotational speed is close to the pocket plate rotational speed, the struts in one direction are activated. Once seated, the struts in the other direction are activated. This two-step engagement of the struts provides a smoother transition between clutch engagements (gear shifts) while not requiring the precision of having all struts activated at the same time.