Patent ID: 8308248

Claim:
A method for operating a vehicle brake system for motor vehicles having at least one front axle (FA) and at least one rear axle (RA), wherein each axle (FA, RA) is assigned at least two vehicle wheels, wherein at least one wheel brake, which generates a braking torque, is provided on at least one of the front axle (FA) and the rear axle (RA), wherein the vehicle wheels which are assigned to an axle (FA, RA) are at least partially driven by an electric motor which can be operated as a generator during regeneration of braking energy, and, during regeneration, exerts a braking regeneration torque on a respective axle (FA, RA), wherein the regeneration torque acting on the at least one rear axle (RA) is limited in such a way that a slip present at at least one vehicle wheel of the at least one rear axle (RA) does not substantially exceed a first slip threshold which is respectively individually assigned to the at least one vehicle wheel of the at least one rear axle (RA), and wherein a change in the regeneration torque takes place when the slip drops below a second slip threshold of the vehicle wheel of the at least one rear axle (RA) which has the greater slip.