A vehicle brake control system comprising: a braking detector component that is configured to determine whether a braking operation occurring in a vehicle is within an initial braking stage based on a condition pertaining to a frictional braking operation that controls a frictional braking system (11 L, 11 R, 12L, 12R, 10L, 10R, 9L, 9R, 13) of the vehicle; and a braking controller component that is configured to provide an initial braking stage control when the braking detector component determines that the braking operation is within the initial braking stage by controlling a regenerative braking system of the vehicle to provide a limited braking torque and the frictional braking system (11 L, 11 R, 12L, 12R, 10L, 10R, 9L, 9R, 13) to provide a first supplemental braking torque, such that a combination of the limited braking torque and the first supplemental braking torque corresponds to a target braking torque (tTtotal) for decelerating the vehicle,, and the braking controller component being further configured to provide a subsequent braking control when the braking detector component determines that the initial braking stage has ended by controlling the regenerative braking system to provide an increased braking torque, greater than the limited braking torque, and the frictional braking system (11 L, 11R, 12L, 12R, 10L, 10R, 9L, 9R, 13) to provide a second supplemental braking torque, less than the first supplemental braking torque, such that a combination of the increased braking torque and the second supplemental braking torque corresponds to the target braking torque (tTtotal), characterized in that the limited braking torque in the initial braking stage has a braking torque value that is limited to be smaller than a maximum regenerative braking torque achievable in the initial braking stage by the regenerative braking system. a braking detector component that is configured to determine whether a braking operation occurring in a vehicle is within an initial braking stage based on a condition pertaining to a frictional braking operation that controls a frictional braking system (11 L, 11 R, 12L, 12R, 10L, 10R, 9L, 9R, 13) of the vehicle; and a braking controller component that is configured to provide an initial braking stage control when the braking detector component determines that the braking operation is within the initial braking stage by controlling a regenerative braking system of the vehicle to provide a limited braking torque and the frictional braking system (11 L, 11 R, 12L, 12R, 10L, 10R, 9L, 9R, 13) to provide a first supplemental braking torque, such that a combination of the limited braking torque and the first supplemental braking torque corresponds to a target braking torque (tTtotal) for decelerating the vehicle,, and the braking controller component being further configured to provide a subsequent braking control when the braking detector component determines that the initial braking stage has ended by controlling the regenerative braking system to provide an increased braking torque, greater than the limited braking torque, and the frictional braking system (11 L, 11R, 12L, 12R, 10L, 10R, 9L, 9R, 13) to provide a second supplemental braking torque, less than the first supplemental braking torque, such that a combination of the increased braking torque and the second supplemental braking torque corresponds to the target braking torque (tTtotal),