@benoit @TechConnectify oh! and in my experience, the limitations on regenerative braking on Toyotas are not because of MG2 being smaller than, say, e-Power’s traction motor. it’s three factors: the battery, how conservative Toyota’s ABS tuning is, and cooling. basically, it’s not possible to get more than about 27 kW of regenerative braking on a Gen 4 Prius unless it’s the PHV/Prime, because that’s what the battery maxes out at. (there’s definitely been times I wish my Gen 4 was a Prime, not just because a PHEV would work great for my commute, but because the bigger battery can take more power and energy in regen.) given that MG2 is rated for 53 kW… yeah, MG2 is not the limiting factor here. Toyota’s general approach to ABS on hybrids is, if there’s any disturbance under braking, cut off almost all regen until the brake pedal is released. open differential means the easiest wheel to lock will get locked by regen, so I get why they have to be careful, but you could use approaches like those used for friction brake ABS and pulse the regen to determine the traction limit instead… but Toyota doesn’t. and, on non-PHEV Toyotas, the planet carrier spins the oil pump for the transmission, so under extended regenerative braking, they’ll spin up the ICE just to cool down the transmission. all three of these problems could be solved without changing the fundamental behavior of a power-split hybrid system (and two of them actually are solved by the PHEVs).