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 a primary axle powered by an actuator and a secondary axle powered by a motor and including a wheel and a clutch selectively coupling the wheel to the motor via mating components. A controller is electrically connected to the clutch and the motor. The controller is programmed to, in response to an engagement of the clutch being unsuccessful within a first duration of time, command a series of speeds to the motor based on wheel speed and an alternating offset that changes between positive and negative signs at predefined periods so that relative speeds between the mating components oscillate due to the alternating offset to jiggle the clutch into engagement.

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 a powertrain, an inertial measurement unit configured to measure inertial forces exerted onto the vehicle, and a controller. The controller is programmed to control the torque at the powertrain based on a mapped relationship between the inertial forces and a vehicle velocity, wherein the mapped relationship utilizes at least one mapping parameter. The controller is further programmed to estimate a mass of the vehicle based on the mapping parameter.

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 higher gear range to a lower 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 higher gear range to a lower gear range without stopping a vehicle.

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 control system for reducing turn radius of a vehicle may include a controller and a torque control module operably coupled to the controller and to front wheels of a front axle of the vehicle and rear wheels of a rear axle of the vehicle. The controller may also be operably coupled to components and/or sensors of the vehicle to receive information including vehicle wheel speed and steering wheel angle. The torque control module may be operable, responsive to control by the controller, to apply a negative torque to an inside rear wheel during a turn and apply a positive torque to the front axle during the turn to compensate for the negative torque applied to the inside rear wheel to reduce the turn radius based on the steering wheel angle and the vehicle speed.

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: Methods and systems are provided for controlling yaw of a vehicle while maintaining vehicle speed. In one example, equal and opposite vectoring torques are applied to first and second wheels along with a propulsion torque so that a vehicle yaw moment may be induced without accelerating or decelerating the vehicle.

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: 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: One axle of a hybrid vehicle is powered by an electric motor while a second axle of the vehicle is powered by a powertrain that includes an internal combustion engine. The electrically driven axle can be controlled in a speed control mode or in a torque control mode based on a driver demanded torque. The speed control mode is used when slip is detected at the electrically driven axle. The torque control mode is used when the electrically driven axle has traction. During a transition between these modes, the rate of change of torque is controlled to a predetermined level to mitigate noise, vibration, and harshness.

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 controlling wheel slip of a four wheel drive vehicle. The methods and system may be applied to an electric vehicle or a hybrid vehicle. The method and system provide for operating vehicle propulsion sources in speed and torque control modes to manage wheel slip.

Abstract: Methods and systems are provided for operating a driveline of a four wheel drive vehicle that includes a high gear ratio and a low gear ratio. The driveline may be operated to shift between the high gear ratio and the low gear ratio while the four wheel drive vehicle is moving. In one example, a clutch is opened during shifting from the high gear ratio to the low gear ratio, which allows the vehicle to continue traveling during the gear ratio change.

Abstract: Methods and system are described for changing a driveline gear range from a higher gear range to a lower 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 higher gear range to a lower gear range without stopping a vehicle.

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.