US Patent 8954215 Driveline lash control method during driver tip-in/out

A hybrid electric vehicle has a traction motor, a driveline connected to a vehicle wheel, and a controller. The controller is configured to control motor torque through a region surrounding vehicle wheel torque reversal, control driveline input torque during torque reversal of driveline output torque to limit rate of change of driveline output torque, and control motor torque during a torque reversal of at least one driveline component to limit rate of change of the torque applied to the driveline component. A method for controlling a vehicle having a traction motor includes controlling the traction motor torque through a region surrounding a vehicle wheel torque reversal, controlling driveline input torque during torque reversal of driveline output torque to limit rate of change of output torque, and controlling traction motor torque during a torque reversal of a powertrain component to limit rate of change of the torque applied to the component.