A regenerative braking system has a generator connected to at least one
wheel set to apply regenerative brake torque to it by generating
electricity, a regenerative braking control means controlling a
regenerative braking amount, an actual wheel speed variation calculating
means calculating an actual wheel speed variation between actual
outer-wheel speed of an outer wheel of steerable wheels and actual
inner-wheel speed of at least one wheel of front and rear wheel sets, a
correspondent wheel speed variation calculating means calculating a
correspondent wheel speed variation corresponding to an outer-to-inner
wheel speed variation of the steerable wheels with road grip, a steer
characteristic judging means judging strength of a steer characteristic
based on the correspondent wheel speed variation and the actual wheel
speed variation, and a regenerative braking amount compensating means
compensating the amount to be more decreased as the steer characteristic
becomes stronger.