Regenerative braking system for motor vehicles

A regenerative braking system for a motor vehicle comprising:

• a generator that is connected with a wheel set, the generator being capable of applying regenerative brake torque to the wheel set by generating electricity;
• a regenerative braking controller that controls a regenerative braking amount of the generator based on at least a demand brake force amount;
• an actual wheel speed variation calculating module that calculates an actual wheel speed variation between an actual outer wheel speed of an outer wheel of steerable wheels and an actual inner wheel speed of at least one wheel of a front wheel set and a rear wheel set;
• an estimated road-grip correspondent wheel speed variation calculating module that estimates an estimated road-grip correspondent wheel speed variation corresponding to an outer-to-inner wheel speed variation between outer wheel speed and inner wheel speed of the steerable wheels with road grip;
• a steer characteristic judging module that judges that an estimated understeer amount of a steer characteristic becomes stronger as a numerical value of an estimated-to-actual wheel speed variation between the estimated road-grip correspondent wheel speed variation and the actual wheel speed variation becomes larger;
• and
• a regenerative braking amount compensating module that compensates the regenerative braking amount so that the regenerative braking amount decreases more as the estimated understeer amount becomes stronger.