Closed-loop control of regenerative braking

A method for closed-loop control of regenerative braking in a vehicle, the method comprising:

• applying a first amount of regenerative braking torque with a regenerative braking subsystem of the vehicle;
• determining a current vehicle deceleration while the first amount of regenerative braking torque is applied;
• determining a target vehicle deceleration based on a vehicle speed measurement and a position of an accelerator pedal of the vehicle;
• determining a difference between the current vehicle deceleration and the target vehicle deceleration;
• setting a second amount of regenerative braking torque to reduce the difference between the current vehicle deceleration and the target vehicle deceleration;
• and
• applying the second amount of regenerative braking torque with the regenerative braking subsystem.

A vehicle comprising:

• a regenerative braking subsystem;
• and
• a vehicle controller configured to:
• command the regenerative braking subsystem to apply a first amount of regenerative braking torque,
• determine a current vehicle deceleration while the first amount of regenerative braking torque is applied,
• determine a target vehicle deceleration based on a vehicle speed measurement and a position of an accelerator pedal of the vehicle,
• determine a difference between the current vehicle deceleration and the target vehicle deceleration,
• set a second amount of regenerative braking torque to reduce the difference between the current vehicle deceleration and the target vehicle deceleration, and
• command the regenerative braking subsystem to apply the second amount of regenerative braking torque.