Problem with creep?

I have an '05 with about 191k and the last year or so I've had an issue where the car jerks and lurches at low speeds, just before coming to a stop. Originally I thought it was an ABS issue but over time I've come to suspect the "creep" is cycling on and off, like the car doesn't know how hard I'm braking and when to disengage creep.

Anyone else experience something like this? If I come to a stop in neutral the lurching doesn't happen. I was wondering if a failing stroke sensor could cause this? I'm really not very familiar with the Prius' unique brake system so I'd appreciate any light you folks could shed.

I'd really like to fix this issue since not only does it seem like it's wearing on the car, it also makes me look like an idiot coming to a stop. The car didn't do it at all when I first bought the car at 166k. I've verified that all four wheel speed sensors are working properly which is why I ruled out the ABS system plus the jerking/lurching is fairly slow, maybe twice per second and ABS usually cycles much faster than that. But I could be wrong!

 

Also could it be the regenerative braking is turning on and off instead of smoothly transitioning to the hydraulic brakes?

 

Brakes are clean, I do the neutral brake thing every couple of days and plenty of meat left on the pads and shoes. I changed the ATF with OEM fluid and changed the spark plugs. I haven't changed out the fluid in either of the coolant systems yet but they're both full and look clean. I change the oil and rotate tires every 5k. I have a laptop with Techstream and I don't have any codes at all. The car thinks everything is okay.

I'm sure the battery will fail me one of these days, I already have noticed that the battery meter is "correcting" itself every now and then. One minute I have 6 bars of battery and two seconds later it's dropped to 2 bars. But it's been doing that for quite a while and still no warning lights. I plan on getting a Green Bean battery when it finally dies, $1500 gets you a 5 year warranty and they install it in your driveway. The 12v battery checks out as okay.

Now that I've been thinking about it I do wonder if it's the regen braking that's the problem. Instead of just letting go and having the hydraulic brakes take over it keeps pulsing on and off from about 5 mph down to a full stop. Doesn't always do it, some stops are normal but it often does do it. I was hoping it was a sensor issue or something easy to fix. I loathe the idea of taking it to the dealer, partly for financial reasons but also because all I ever hear from them is "we can't duplicate the issue".

 

Hey guys, don't mean to revive a dead thread but I finally fixed the problem. I did three things this weekend and one (or more) of them completely fixed the problem. I bled both rear brake lines (didn't see any air bubbles come out), I reset the ABS computer memory and lastly I recalibrated the "linear solenoid valve offset". Not sure if I quoted that exactly right but it was an option in TechStream so I figured why not? Today the car stopped like a normal car, no pulsing of the brakes at all.