US Patent 10071724 Regenerative torque limit control

A vehicle includes a powertrain and at least one controller programmed to, in response to a brake request and a shaft speed associated with a speed of the vehicle achieving a starting speed that is defined by a torque of the powertrain that changes with brake demand at a given shaft speed, reduce a regenerative torque limit that constrains regenerative braking torque over a blend-out duration based on the shaft speed.