Clutch fill command based on clutch slip speed profile synchronization prediction

A vehicle comprising:

• an engine configured to generate an engine torque;
• a first motor configured to generate a first motor torque;
• a second motor configured to generate a second motor torque;
• a gearbox configured to receive at least one of the engine torque, the first motor torque, and the second motor torque;
• an oncoming clutch operably connected to at least one of the engine, the first motor, the second motor, and the gearbox and configured to engage during a transition from a present operating mode to a target operating mode;
• and
• a controller configured to:
• determine a predicted fill time of the oncoming clutch, wherein the predicted fill time is a predicted amount of time for filling the oncoming clutch with a sufficient amount of fluid for engaging the oncoming clutch;
• identify a speed profile associated with the transition to the target operating mode, wherein the speed profile defines a calibrated profile time that represents a calibrated amount of time to synchronize the oncoming clutch during the transition from the present operating mode to the target operating mode;
• adjust the calibrated profile time in real time to define an adjusted profile time;
• calculate a remaining time to complete the transition to the target operating mode as the difference between an elapsed time since the beginning of the transition and the adjusted profile time;
• compare the remaining time to the predicted fill time;
• and
• control the engagement of the oncoming clutch during the transition from the present operating mode to the target operating mode by cancelling the clutch fill command when the remaining time exceeds the predicted fill time and by completing the clutch fill when the remaining time is less than the predicted fill time.