Driveline lash control method during driver tip-in/out

A vehicle comprising:

• an engine;
• a traction motor connected to the engine by an upstream clutch;
• a driveline connected to a vehicle wheel, the driveline connected to the traction motor by a downstream clutch;
• and
• a controller configured to limit a rate of change of a torque applied to a component of the driveline when the upstream and downstream clutches are locked by controlling engine torque through a region surrounding a torque reversal of a driveline output torque, controlling a driveline input torque during the torque reversal of the driveline output torque to limit a rate of change of the driveline output torque, and controlling the engine torque during a torque reversal of the component of the driveline, the region defined as a function of the driveline input torque, the driveline output torque, nonproportional driveline losses, and an actual torque ratio across the driveline;
• wherein, in response to the torque reversal of the driveline output torque being from negative to positive torque, the controller is further configured to control the engine torque by at least partially opening a throttle valve prior to the region, maintaining the throttle valve position through the region, and increasing the engine torque via fast torque control path through the region.