Maximized regenerative braking vehicle braking controller

In an electrically powered apparatus having front drive wheels coupled to and powered by at least one electric motor selectively operated as a generator to effect regenerative braking of said front wheels, and having individual friction brakes associated with, said front wheels and with rear wheels, the method of apportioning a commanded vehicle deceleration braking task among the wheels comprising:

• determining the maximum regenerative braking deceleration achievable by said front wheels;
• braking the vehicle solely by regenerative braking at the front wheels so long as the commanded deceleration is less than the determined maximum deceleration;
• maintaining the maximum regenerative braking and supplementing the regenerative braking with friction braking of said rear wheels and in the event the commanded deceleration exceeds the determined maximum;
• further supplementing the maximum regenerative braking of said front wheels with additional friction braking of those front wheels if the combined deceleration of the regenerative braking of said front wheels and the friction braking of said rear wheels is inadequate to achieve the commanded deceleration;
• and
• sensing vehicle speed and disabling the regenerative braking when vehicle speed is below a predetermined threshold such that braking is achieved solely by friction braking of said front and rear wheels.