Simultaneous auto-start and asynchronous shift for a hybrid vehicle

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 configured to engage during a transition to a target operating mode and transfer the engine torque to the gearbox during the target operating mode;
• an off-going clutch configured to transfer a reactive torque to the gearbox during the transition to the target operating mode, wherein the off-going clutch is configured to be disengaged during at least a portion of the target operating mode;
• and
• a controller configured to wherein the controller is configured to simultaneously control the reactive torque of the off-going clutch and the engagement of the oncoming clutch during the transition to the target operating mode;
• wherein the controller is configured to select a clutch torque profile based at least in part on an output torque profile associated with the transition to the target operating mode and control the reactive torque of the off-going clutch during the transition by controlling a slip speed of the off-going clutch in accordance with the selected clutch torque profile;
• wherein the controller is configured to identify an input speed profile associated with the transition to the target operating mode, select a clutch slip speed profile based at least in part on the input speed profile, and control the engagement of the oncoming clutch during the transition based at least in part on the selected shift profile, and wherein the controller is configured to synchronize the oncoming clutch before engaging the oncoming clutch and disengage the off-going clutch after the oncoming clutch is engaged.