为了实现分布式驱动电动汽车制动能量回收效率最大化与行驶稳定性的协同优化，提出一种融合ABS协调机制的复合制动分层控制策略。该策略采用上下双层优化架构，上层基于变比例制动力分配策略，使实际分配曲线逼近理想制动力分配曲线，以最大化轮胎路面附着利用率；下层为基于滑移率的电机制动与液压制动动态协调控制机制，在确保制动稳定性的前提下实现ABS系统与再生制动的精准协同。引入粒子群优化算法对模糊控制器的隶属度函数进行离线寻优，以电池SOC、制动强度与车速为输入变量动态优化再生制动力分配系数，进一步提升复杂工况下的能量回收效率。基于Matlab/Simulink仿真验证，在NEDC与FTP75工况下优化后的SOC贡献率分别为17.81%和18.53%，低附着路面能量回收率为52%，对开路面达 23.9%。分析结果表明该策略能有效提升制动稳定性与能量回收率。

In order to realize the collaborative optimization of braking energy recovery efficiency and driving stability of distributed drive electric vehicles, a composite braking hierarchical control strategy integrating an anti-lock braking system (ABS) coordination mechanism was proposed. The strategy adopted the upper and lower double-layer optimization architecture. The upper layer utilized a variable-ratio braking force distribution strategy to make the actual distribution curve approximate the ideal braking force distribution curve, thereby maximizing tire-road adhesion utilization. The lower layer consisted of a dynamic coordination control mechanism for electric and hydraulic braking based on slip rate, achieving precise coordination between ABS system and regenerative braking while ensuring braking stability. Then the particle swarm optimization algorithm was introduced to optimize the membership function of fuzzy controller offline, and the regenerative braking force distribution coefficient was dynamically optimized with battery state of charge (SOC), braking strength and vehicle speed as input variables, so as to further improve the energy recovery efficiency under complex working conditions. Based on Matlab/Simulink simulation verification, the optimized SOC contribution rates under NEDC and FTP75 conditions were 17.81% and 18.53% respectively. The energy recovery rate of low adhesion road surface was 52%, and that of μ-split surface was 23.9%. The analysis results show that the strategy can effectively improve the braking stability and energy recovery rate.