Regenerative braking energy recovery technology is critical for electric vehicles, which can significantly improve vehicle mileage. In addition, the regenerative braking system is often used with the friction braking system to provide vehicle braking force. This paper presents an electro-mechanical compound brake control strategy for four-wheel drive electric vehicles equipped with an electro-mechanical braking system. Firstly, the configuration of a four-wheel drive electric vehicle with an electro-mechanical braking system is introduced. The mathematical models of the driving motor, battery, and electro-mechanical braking are established. Secondly, a new control method is introduced by optimizing torque allocation based on maximum energy recovery with considering battery limits and a cooperative control method of the electro-mechanical composite braking system. It can be ensured that the braking energy recovery capability and braking comfort. Finally, simulation results indicate that the introduced control strategy can increase the braking recovered energy by 3% and 4%, respectively, under NEDC and WLTC conditions, compared to the ideal braking force distribution strategy. The introduced control method can effectively decrease the braking impact and ensure braking comfort in the coordination control section.
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