SUPPLEMENTING REGENERATIVE BRAKING

A vehicle controller performs regenerative braking using one or more drive units. The capacity of a battery of the vehicle to receive regenerative current is compared to a reference capacity and an amount of friction braking is generated based on the comparison. The capacity may be determined based on temperature and state of charge of the battery and the duration of regenerative braking. Other systems of the vehicle may select the amount of friction as part of a safety control algorithm or automated driving control algorithm.