I've got a 1.5 Prius, and I've put 100,000 miles on the clock since I got it ( now at 190k ), and this is an interesting question, and can get quite complicated and anal working stuff out if you really wanted to !
Basically - get the car up to speed as quickly as possible, then lift off the accelerator totally for a second - before then finding the sweet spot on the accelerator to maintain your speed.
I think of the accelerator as a power request, rather than fuel request. If you keep the accelerator absolutely still, you're requesting x amount of power from the _car_. It then choses the best combination for emissions (not economy, although they go hand in hand). If you keep your pedal exactly still, you will slow down (and reduce mpg) going up, and speed up (and increase mpg) going down hill.
Slowing for a roundabout from 6 miles out is not a good idea.
1) It hacks people off.
2) It's boring.
3) The pub will be shut by the time you get there.
Best way is to feel for the point at which you are braking too much for the car to cope with the electricity being generated (at which point it uses the friction brakes). The friction brakes definitely come on below 7mph - below this there is no braking effort from the regen so you'd never stop - hence the need for old stuff.
The faster you are going, the more energy is available to be captured and put into the battery - therefore you'll find the harder you brake, the more chance there is of wasting that energy.
It's all about finding the balance, reading the road ahead etc..
FWIW, I usually average about 62+mpg from a tank (45L) in the summer - usually a tank range of 580 - 650 miles. A mixture of "hypermiling" and just generally driving normal/fast ( eg. 70+ on my M1 commute ).
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