METHOD TO CONTROL AXLE TORQUES FOR HYBRID ELECTRIC ALL WHEEL DRIVE APPLICATIONS

A system performs a method for operating a vehicle. A raw total axle torque request for the vehicle is received at a processor of the vehicle. The vehicle includes a primary axle, one or more electric motors on the primary axle, an engine coupled to the primary axle, a secondary axle, and an additional electric motor on the secondary axle. The processor performs an optimization to determine a primary axle torque target and a secondary axle torque target that meets the raw total axle torque request while locating a value representative of a minimum of an objective cost function for the vehicle, controls the one or more electric motors and the engine at the primary axle using the primary axle torque target; and controls the additional electric motor at the secondary axle using the secondary axle torque target.