Torque control during gear shifts for an electrically all-wheel drive hybrid vehicle

A control system for an electrically all-wheel drive (eAWD) hybrid vehicle, the control system comprising:

• an input device/sensor configured to receive an operating parameter of the hybrid vehicle, the operating parameter relating to whether to perform a gear shift of a transmission, the transmission being configured to transfer drive torque from a first torque generating unit to only a first axle of the hybrid vehicle;
• and
• a controller configured to:
• receive, from the input device/sensor, the measured operating parameter;
• based on the measured operating parameter, determine whether to perform a gear shift of the transmission;
• and
• while performing the gear shift of the transmission, control a second torque generating unit to compensate for a disturbance caused by the gear shift, the second torque generating unit being configured to provide drive torque to only a different second axle of the hybrid vehicle.