Just my 2cents (take with a grain of salt since I am not an electrical engineer). I have had this problem in the past with a different car and it turned out to be a bad brake light bulb. It sounds simple, but with one light burned out, the entire circuit was opened, so no brake lights at all. On the Insight, if no closed circuit, then no regen braking. Also, if the car doesn't think that you are on the brakes (no closed circuit from the brake light switch), then autostop won't function correctly either. Just some info from my own experience.
Or... maybe check the fusebox...
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2000 MT Insight #4812
156,000 miles, 77.3 lmpg,
76.15mpg actual as Owner
--Calpod's
Clutch(CARD) and Corey's
Brake Switch Mods

--60 PSI on OEM RE-92s

--600w RF amp w/ 10" Sony sub
--135dB Airhorns from Harbor Freight

--Calpod's
FAS Mod 2.0