Abstract: The present disclosure relates to a method for controlling an application of regenerative brake torque to a plurality of wheels of at least one of a hybrid electric vehicle or an electric vehicle, to avoid brake instability. The method may involve sensing variables such as an angle of a steering wheel of the vehicle, a speed of the vehicle, a brake pedal rate as an operator engages a brake pedal, and a wheel slip of each of the front and rear wheels. A commanded lateral acceleration may be determined representing a steady state lateral acceleration that the vehicle would reach at an actual vehicle speed and with a presently sensed steering wheel angle. The application of regenerative brake torque can then be controlled based on the sensed wheel slips relative to at least one predetermined wheel slip limit. The predetermined wheel slip limit is determined based at least in part on the determined commanded lateral acceleration.