Powertrain to friction brake standstill handoff for one pedal drive

A vehicle comprising:

• an electric machine;
• friction brakes;
• and
• a controller programmed to operate the electric machine to selectively regeneratively brake the vehicle based on driver accelerator pedal input, and responsive to a speed of the vehicle achieving or becoming less than a speed threshold, apply the friction brakes at a holding torque value in an absence of brake pedal input such that when the speed is zero, the friction brakes are active, wherein the speed threshold depends on road grade such that the speed threshold increases as the road grade increases.