Systems and methods for torque shaping

A method of shaping wheel torque in a vehicle having a transmission, a first actuator upstream of the transmission, and a second actuator downstream of the transmission, the method comprising:

• receiving a series of driver-demanded wheel torque commands;
• calculating a series of shaped wheel torque commands based on the driver-demanded wheel torque commands;
• in response to the driver-demanded wheel torque commands changing from a first magnitude that is greater than estimated wheel torque at a last time step to a second magnitude that is less than the estimated wheel torque at a current time step, reducing the shaped wheel torque to a minimum of (i) a magnitude of the shaped wheel torque at the last time step and (ii) an estimated wheel torque at the current time step;
• and
• commanding the first and second actuators to produce the reduced shaped wheel torque.

A vehicle comprising:

• a first axle including first wheels;
• a second axle including second wheels;
• a first actuator configured to power the first axle;
• a powertrain configured to power the second axle, the powertrain including a transmission and a second actuator upstream of the transmission;
• and
• a controller programmed to
• receive a driver-demanded wheel torque command for the first and second wheels,
• calculate a shaped wheel torque command based on the driver-demanded wheel torque command, and
• in response to the driver-demanded wheel torque command changing from a first magnitude that is greater than estimated wheel torque of the first and second wheels at a last time step to a second magnitude that is less than the estimated wheel torque at a current time step,
• set the shaped wheel torque to a minimum of (i) a magnitude of the shaped wheel torque at the last time step and (ii) an estimated wheel torque at the current time step, and
• command the first and second actuators to produce the set shaped wheel torque.