Control for regenerative braking

The invention relates to a motor vehicle and a device, a system and method for controlling a Nutzbremsanlage for a vehicle, comprising a control system of the yaw stability; an ability to provide a regenerative braking torque on wheels of at least one axis; non-regenerative brakes, which are connected to the wheels of at least one axis; a regulator and a regulator been realized in the control system for the control of the controller to control regenerative braking and non-regenerative braking during the operation of the control system of the yaw stability. The method essentially comprises a control of regenerative braking for a vehicle having a control system of the yaw stability; the ability to provide a regenerative braking torque to wheels for effecting at least one axis; with non-regenerative brakes, which are connected to the wheels of at least one axle, among other things, by determining in the control system of the yaw stability whether the vehicle is experiencing a state of understeer or oversteer; and controlling the vehicle by receiving an input signal from the control system the yaw stability; Comparing a current brakes compensation with a desired brake equalizer; Determine whether front axle wheels or rear axle wheels are slowed compared to the desired brake equalizer; and setting a regenerative braking stage and a non-regenerative braking level.