Patent ID: 8612076

Claim:
A method for enabling antilock braking in a vehicle which is propelled at least by an electric motor, the method comprising: obtaining monitored parameters by monitoring a speed of at least one of the motor, transmission, shaft and ground speed; detecting a tendency of locking of at least one wheel by comparing an actual speed indicated by said monitored parameters with expected speed indicated by said monitored parameters, wherein the vehicle is being decelerated; modulating an output of one or more portions of a regenerative braking system as a function of the tendency of locking of at the least one wheel, wherein said modulation of the regenerative braking force is based on one or more of preprogrammed empirical values, weight of the vehicle and the motor torque speed characteristics, to prevent locking of the at least one wheel of the vehicle; and activating at least one of a mechanical brake system and a hydraulic brake system after increasing said regenerative braking force in the at least one wheel to its full potential.