Electric drive vehicle with anti-rollback control

A driveline controller for electric vehicle including a motor-generator operable to drive a wheel of the electric vehicle, the driveline controller comprising processing instructions which when executed implement a method comprising:

• determining a position baseline of the electric vehicle, wherein the position baseline comprises a first position of the electric vehicle;
• determining a position compensated speed of the electric vehicle based on the position baseline;
• determining a hold torque as a function of the position compensated speed;
• generating a command to apply the hold torque with a motor-generator of the electric vehicle;
• wherein the position baseline is based on a stopped condition of the electric vehicle or a speed polarity transition and a position of the electric vehicle at a time when the stopped condition or the speed polarity transition were determined;
• and
• permitting the electric vehicle to roll to a second position, stopping the roll at the second position with the hold torque, and continuing to apply the hold torque to counter the roll until the vehicle stops at a third position;
• wherein the third position equals the first position.