“…It was mentioned that, integrating RBS in buses and trains can reduce fuel consumption by about 30% and increase energy efficiency to 30% [4], [8], [10], [11]. To ensure the efficiency of the energy recovery process some parameters must be considered such as the type of used motor, the applied braking force and EV batteries, different road surfaces coefficients, driver intentions, state of charge of the battery, drive distance, motor braking torque and braking forces distribution on the wheels [2], [9], [12].…”