TORQUE VECTORING WITH MODEL-PREDICTIVE TORQUE REQUESTS

A vehicle electric torque vectoring system includes a traction motor, a vectoring motor, gears, and a controller. The gears transfer torque from the propulsion and vectoring motors to wheels. The controller, responsive to a step change in an unmodified torque request for the vectoring motor and a predicted torque response of the vectoring motor being greater than the unmodified torque request, commands the vectoring motor to generate torque with a modified torque request less than the unmodified torque request. The controller further, responsive to the predicted torque response becoming less than the unmodified torque request, commands the vectoring motor to generate torque with the unmodified torque request.