Using a BLDC motor for regenerative braking
You control the de-acceleration the same way by sensing current according to demand using PWM but boosting the voltage as speed reduces with a DC converter.

Friction braking typically is about 5-10x faster than acceleration even with all wheel drive so regenerative braking can do no better.

If cycling from full e-brake to full acceleration , current is typically 5x current at full power so extra cooling is needed. Adding a power dump resistor reduces current and e-braking effect.

Regenerative charging must boost voltage as speed drops and is more complicated than simply reversing the direction of bridge current because V is proportional to RPM with no load. Thus as speed reduces, so too does e-braking effect reduce . The braking reduces, just as acceleration reduces towards full speed.

Of course in theory you could use degenerative braking by reverse current but that is not practical.

Also if the vehicle kinetic energy is recovered it is only to assist the primary friction brakes and a dead time must be designed to prevent shoot-thru.