US Patent 9533581 Method for determining amount of regenerative braking

A method for determining an amount of regenerative braking includes: determining a possible amount of regenerative braking at a time of braking a vehicle; distributing a first amount of regenerative braking up to the possible amount of regenerative braking as the amount of regenerative braking; distributing a second amount of regenerative braking remaining from the possible amount of regenerative braking as an amount of hydraulic braking; and performing, first, regenerative braking by issuing a motor torque instruction according to the possible amount of regenerative braking and, second, friction braking using the amount of hydraulic braking.