One-pedal driving model

I want to model the one-pedal drive (OPD) of my electric vehicle in Matlab-Simulink. The OPD has 3 zones, coasting, regen braking, and accelerating. The vehicle I am working on has a maximum speed of 20kmph forward and 10kmph backward. The single pedal drive is very sensitive, once you fully release the pedal, the vehicle comes to standstill from 10kmph to 0kmph within 0.2seconds. The operation of the single pedal is very confusing and it is understood from the following table: Positive torque Negative torque Forward motion Driving torque Braking torque Reverse motion Braking torque Driving torque There is just a simple switch, switch up to make the vehicle move forward and switch down to move reverse. So, when the vehicle is moving forward with the pedal position of 80%, corresponding to it is a certain velocity setpoint and the driver decides to release the pedal to 60% to a lower velocity setpoint, there needs to be a negative (braking) torque and then the positive torque at the new velocity setpoint. Similarly, if the pedal position is at 80% and the driver decides to release the pedal completely, the vehicle’s setpoint speed is 0kmph and thus the input to the inverter is negative torque(braking) and the vehicle comes to standstill within a fraction of a second. Now, the vehicle is moving forward at an 8kmph forward direction and the driver decides to switch to reverse motion (by outing the switch down) the positive torque of8kmph forward motion changes to negative torque of reverse motion and the vehicle moves in the reverse direction. The above three highlighted statements are the main requirements of the single-pedal drive model operation in MATLAB-Simulink. I have the necessary parameters of the motor and the vehicle. So, in technical terms, the requirements can be framed as: The requirements of the model are: a) The torque should be positive when the pedal is pressed to accelerate the vehicle. b) When the pedal is released somewhat (suppose from 80% to 60%) the torque should go negative in order to brake the vehicle and reach a new velocity setpoint c) When the pedal is released fully (suppose 75% to 0% the braking should be hard). d) When the pedal position is constant the torque remains constant (speed is also constant). e) Proper pedal mapping of the motor should be done in order to get comfortable driving and braking should also be comfortable. The figure given attached is an example of how the single pedal drive should work. Redline is pedal position. The blue line is torque and the Greenline is speed. I have attached 2 research papers that will be very helpful for making the algorithm. Thanks