SYSTEM AND METHOD TO COORDINATE LASH CROSSINGTRANSITIONS IN MULTI-AXLE ELECTRIFIED DRIVETRAINS

Methods and systems are provided for an electric vehicle are provided. In one example, a method for an electric vehicle having a first prime mover for supplying a torque to a first axle and a second prime mover for supplying a torque to a second axle comprises transitioning the first prime mover and the second prime mover to cross a lash zone one before the other, where the lash zone of the second prime mover does not overlap with the lash zone of the first prime mover. In one example, the first prime mover is controlled with a first electronic controller and the second prime mover is controlled with a second electronic controller positioned separately in the vehicle from the first electronic controller. In one example, the method further comprises communicating information from the first electronic controller to the second electronic controller via a communication area network.