Vehicle deceleration rate control method and apparatus

A method of controlling a deceleration rate of a hybrid electric vehicle (HEV) includes measuring an applied regenerative braking torque (RBT) during a threshold regenerative braking event (RBE), and automatically applying an offsetting friction braking torque (OFBT) from a hydraulic braking system during the threshold RBE to provide the vehicle with a substantially constant deceleration rate. An HEV having a regenerative braking capability includes a friction braking system adapted to selectively apply an OFBT to slow the HEV in one manner, an energy storage system (ESS), an electric motor/generator, and a controller having a braking control algorithm or method. The method anticipates an impending let up in the RBT based on a plurality of vehicle performance values including a threshold vehicle speed, and selectively activates the friction braking system to apply the OFBT when the impending let up in the RBT is greater than a threshold.