Proposal of regenerative braking algorithm to maximize energy transfer and to enhance yaw stability

In this paper, regenerative braking algorithm for hybrid electric vehicle technology is presented. The proposed algorithm is capable of maximizing the energy transfer from the kinetic energy stored at the rotating wheels to the electric battery system and also to regulate the yaw dynamics of the vehicle model during transient braking maneuver. The nonlinear tire-road friction model and double track nonlinear vehicle model is used. The road-friction coefficient is assumed to be unknown a priori and it is searched on a real-time basis by enforcing extremum seeking algorithm. Simulation results are used to illustrate the effectiveness of the presented regenerative braking methodology.