Automatic lash learn to improve vehicle drivability

A vehicle, comprising:

• a front drive unit;
• a rear drive unit;
• a first measuring device that measures a first lash angle associated with the front drive unit;
• a second measuring device that measures a second lash angle associated with the rear drive unit;
• and
• a torque control configured to:
• obtain first lash angle information corresponding to the measured first lash angle and second lash angle information corresponding to the measured second lash angle,
• determine, based on the first lash angle information, a first torque shaping logic for the front drive unit,
• determine, based on the second lash angle information, a second torque shaping logic for the rear drive unit, and
• output the first torque shaping logic to the front drive unit and the second torque shaping logic to the rear drive unit.

A method of managing a vehicle, the method comprising:

• monitoring a transferred displacement between a drive unit and a wheel coupled to the drive unit;
• measuring a lash angle corresponding to the transferred displacement between the drive unit and the wheel;
• and
• sending, based on the measured lash angle, torque shaping logic to the drive unit,
• wherein the measuring comprises measuring the transferred displacement between the drive unit and the wheel when a vehicle is in a locked state and greater than a threshold amount of time has passed since the vehicle transitioned into the locked state and prior to the vehicle transitioning into a sleep state.