Vehicle and corresponding regenerative braking control system

1 . A vehicle comprising:

an electric machine configured to brake the vehicle via regenerative braking;

friction brakes configured to brake the vehicle via friction braking;

a brake pedal configured to generate commands to reduce a speed of the vehicle via regenerative braking or friction braking; and

a controller programmed to,

in response to depressing the brake pedal to generate a first command to reduce the speed of the vehicle, reduce the speed of the vehicle (i) via regenerative braking or (ii) via regenerative braking plus friction braking,

in response to (i) releasing the brake pedal subsequent to the first command, (ii) the speed of the vehicle being less than a threshold, and (iii) depressing the brake pedal to generate a second command to reduce the speed of the vehicle subsequent to releasing the brake pedal, reduce the speed of the vehicle via friction braking only; and

in response to (i) the depressing of the brake pedal to generate the second command to reduce the speed of the vehicle subsequent to releasing the brake pedal and (ii) torque of the electric machine increasing from a first negative value to a second negative value while the brake pedal was released, limit torque of the electric machine to greater than or equal to the second negative value during the second command.

2 . The vehicle of claim 1 , wherein the controller is further programmed to, in response to (i) an increase in vehicle speed that is less than the threshold plus a hysteresis subsequent to the second command and (ii) depressing the brake pedal to generate a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, reduce the speed of the vehicle via friction braking only.

3 . The vehicle of claim 1 , wherein the controller is further programmed to, in response to (i) an increase in vehicle speed that is greater than the threshold plus a hysteresis subsequent to the second command and (ii) depressing the brake pedal to generate a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, reduce the speed of the vehicle (i) via regenerative braking or (ii) via regenerative braking plus friction braking.

4 . The vehicle of claim 1 , wherein the controller is further programmed to, in response to (i) the depressing of the brake pedal to generate the second command to reduce the speed of the vehicle subsequent to releasing the brake pedal and (ii) torque of the electric machine increasing from a negative value to zero or a positive value while the brake pedal was released, limit torque of the electric machine to greater than or equal to zero during the second command.

5 . The vehicle of claim 1 , wherein the controller is further programmed to in response to (i) an increase in vehicle speed that is greater than the threshold plus a hysteresis subsequent to the second command, (ii) depressing the brake pedal to generate a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, and (iii) a continued increase in vehicle speed due to the vehicle being positioned on a sloped surface during the third command, control an increase in regenerative braking.

6 . A vehicle comprising:

an electric machine configured to brake the vehicle via regenerative braking;

friction brakes configured to brake the vehicle via friction braking; and

a controller programmed to,

in response to a first command to reduce a speed of the vehicle, reduce the speed of the vehicle (i) via regenerative braking, and

in response to (i) an increase in torque of the electric machine from a first negative value during the first command to a second negative value subsequent to the first command, (ii) the speed of the vehicle being less than a threshold, and (iii) a second command to reduce the speed of the vehicle subsequent to the increase in torque of the electric machine from the first negative value to the second negative value, limit regenerative braking torque to the second negative value and reduce the speed of the vehicle (i) via friction braking or (ii) via friction braking plus regenerative braking.

7 . The vehicle of claim 6 , wherein the controller is further programmed to, in response to (i) an increase in torque of the electric machine from the first negative value during the first command to a zero or positive value subsequent to the first command, (ii) the speed of the vehicle being less than the threshold, and (iii) a third command to reduce the speed of the vehicle subsequent to the increase in torque of the electric machine from the first negative value to the zero or positive value, control regenerative braking torque to zero and reduce the speed of the vehicle via friction braking only.

8 . The vehicle of claim 6 , wherein the controller is further programmed to, in response to (i) an increase in vehicle speed that is less than the threshold plus a hysteresis subsequent to the second command and (ii) a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, reduce the speed of the vehicle (i) via friction braking or (ii) via friction braking plus regenerative braking.

9 . The vehicle of claim 6 , wherein the controller is further programmed to, in response to (i) an increase in vehicle speed that is greater than the threshold plus a hysteresis subsequent to the second command and (ii) a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, reduce the speed of the vehicle (i) via regenerative braking or (ii) via regenerative braking plus friction braking.

10 . The vehicle of claim 6 , wherein an absolute value of the first negative value is greater than an absolute value of the second negative value.

11 . The vehicle of claim 6 , wherein the controller is further programmed to, in response to (i) an increase in vehicle speed that is greater than the threshold plus a hysteresis subsequent to the second command, (ii) a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, and (iii) a continued increase in vehicle speed due to the vehicle being positioned on a sloped surface during the third command, control an increase in regenerative braking.

12 . The vehicle of claim 6 , wherein the controller further is programmed to, in an absence of releasing a brake pedal during the first command, reduce the speed of the vehicle to substantially zero via regenerative braking during the first command.

13 . A vehicle comprising:

an electric machine configured to brake the vehicle via regenerative braking;

friction brakes configured to brake the vehicle via friction braking; and

a controller programmed to,

in response to a first command to reduce a speed of the vehicle, reduce the speed of the vehicle (i) via regenerative braking, and

in response to (i) an increase in torque of the electric machine from a negative value during the first command to a zero or positive value subsequent to the first command, (ii) the speed of the vehicle being less than a threshold, and (iii) a second command to reduce the speed of the vehicle subsequent to the increase in torque of the electric machine from the negative value to the zero or positive value, control regenerative braking torque to zero and reduce the speed of the vehicle via friction braking only;

in response to (i) an increase in torque of the electric machine from the negative value during the first command to a second negative value subsequent to the first command, (ii) the speed of the vehicle being less than the threshold, and (iii) a third command to reduce the speed of the vehicle subsequent to the increase in torque of the electric machine from the negative value to the second negative value, limit regenerative braking torque to the second negative value and reduce the speed of the vehicle (i) via friction braking or (ii) via friction braking plus regenerative braking.

14 . The vehicle of claim 13 , wherein an absolute value of the negative value is greater than an absolute value of the second negative value.

15 . The vehicle of claim 13 , wherein the controller is further programmed to, in response to (i) an increase in vehicle speed that is less than the threshold plus a hysteresis subsequent to the second command and (ii) a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, reduce the speed of the vehicle via friction braking only.

16 . The vehicle of claim 13 , wherein the controller is further programmed to, in response to (i) an increase in vehicle speed that is greater than the threshold plus a hysteresis subsequent to the second command and (ii) a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, reduce the speed of the vehicle (i) via regenerative braking or (ii) via regenerative braking plus friction braking.

17 . The vehicle of claim 13 , wherein the controller is further programmed to, in response to (i) an increase in vehicle speed that is greater than the threshold plus a hysteresis subsequent to the second command, (ii) a third command to reduce the speed of the vehicle subsequent to the increase in vehicle speed, and (iii) a continued increase in vehicle speed due to the vehicle being positioned on a sloped surface during the third command, control an increase in regenerative braking.

18 . The vehicle of claim 13 , wherein the controller further is programmed to, in an absence of releasing a brake pedal, reduce the speed of the vehicle to substantially zero via regenerative braking during the first command.