Brake strategy for electrically propelled vehicles

A computer-implemented method, comprising:

• obtaining, by processing circuitry of a computer system, a target retardation level for a vehicle comprising a plurality of electric machines, each electric machine being operably connected to at least one wheel of the vehicle;
• controlling, by the processing circuitry, each of the plurality of electric machines according to a brake torque distribution scheme to obtain the target retardation level;
• and
• determining, by the processing circuitry, that a first wheel operable by a first electric machine of the plurality of electric machines reaches a predefined wheel slip limit of the first wheel upon applying brake torques according to the brake torque distribution scheme, and in response to the first wheel reaching the predefined wheel slip limit:
• updating, by the processing circuitry, the brake torque distribution scheme by increasing the brake torque on at least a second electric machine operably connected to at least a second wheel of the vehicle.