Archtecture and execution of torque coordination for electric vehicle transmission shift controls

A control system for operating a vehicle, comprising:

• a first motor processor associated with a first motor of the vehicle, the first motor processor configured to:
• determine a torque command;
• coordinate an allocation of the torque command into a first motor torque at the first motor and a transmission torque at a first transmission associated with the first motor;
• and
• control the first motor to apply the torque command at the first motor.

A vehicle, comprising:

• a first motor processor associated with a first motor of the vehicle, the first motor processor configured to:
• determine a torque command;
• coordinate an allocation of the torque command into a motor torque at the first motor and a transmission torque at a first transmission associated with the first motor;
• and
• control the first motor to apply the torque command at the first motor.