How do you design a regenerative braking system that blends seamlessly with friction brakes?

Regen-friction blending requires: Brake pedal feel simulation maintaining natural response independent of regen availability, coordination between regenerative torque request and hydraulic brake actuation, handling regen limitations (high SOC, cold battery, high speed) by substituting friction braking, managing transitions without jerk, coast regen calibration for one-pedal driving, and ESC/ABS integration ensuring stability during blended braking. Architecture options include brake-by-wire (most control flexibility) or intelligent hydraulic actuation. Calibration uses driver perception studies to achieve natural feel. Safety requires independent friction brake capability if regen fails.