Patent ID: 7104617

Claim:
A method to control braking and optimize controllability of a vehicle having a generator motor adapted to adjustably apply regenerative braking torque to wheels of a first axle and non-regenerative brakes connected to wheels of a second axle, comprising the steps of: controlling the vehicle by sensing vehicle conditions including at least one of brake position, wheel speed of each wheel, and degree of steering angle deviation right or left of a straight ahead direction; activating non-regenerative and regenerative braking in varying proportion independently among wheels of said first and second axles; determining vehicle controllability based on comparison of at least one measured vehicle controllability value against at least one predetermined target value; and reducing regenerative braking to the wheels of said first axle while increasing the non-regenerative braking to a single selected wheel of said second axle, to maintain the actual vehicle controllability value within the predetermined target value.