Abstract：To recover braking energy and ensure braking stability,a integrated control strategy of combined braking system and antilock brake system (ABS)was proposed based on road identification for the electric vehicle with four inwheel motors. Taking the singlewheel brake model as research object, the peak adhesive coefficient and the optimal slip rate of the current road were estimated by the Lagrange interpolation method. The braking conditions were divided into conventional brake and antilock brake by comparing the target braking severity and the peak adhesive coefficient. For the transition from conventional brake to antilock brake,the reasonable reducing regenerative braking before ABS triggering was adopted to avoid frequent withdrawal and startup of ABS caused by direct withdrawing regenerative braking. The simulation models were established in MATLAB／Simulink. The results show that the accuracy of road identification strategy is satisfactory. The integrated control strategy can distribute regenerative power and hydraulic power reasonably and realize the antilock brake control of wheel.
