驾驶员制动意图识别和电机液压制动力协调控制是开发制动能量回收系统时需要解决的关键技术问题．文中通过特性试验数据分析，得出了表征驾驶员制动需求的参量，并使用时间因子自适应修正的一阶延迟滤波方法，基于主缸的压力求得驾驶员的制动需求．根据液压制动系统硬件方案，在 Matlab/Simulink 下建模，并使用比例制动力分配方法进行电机和液压制动力的协调控制，使用偏差控制方法实现目标压力．仿真结果表明，制动需求计算准确，制动力控制协调，保证了平稳的制动强度．

The detection of drivers' braking tendency and the coordinated control of braking torque between hydrau-lic and motor braking systems are two key technologies for the development of a braking energy recovery system.Ai-ming at these two technologies,the parameters characterizing drivers' braking demand are acquired by analyzing thecharacteristic test data,and a first- order hysteresis filtering method with adaptively- corrected filtering time factor isadopted to calculate the braking demand based on the pressure of master cylinder.Then,the hardware constructionmodel of hydraulic braking system is established with Matlab/Simulink,and the coordinated control of motor andhydraulic braking torques is implemented via the proportional distribution of braking force.Finally,the target pre-ssure is achieved via deviation control.Simulated results show that the proposed method helps to obtain accuratebraking demand of drivers,achieve coordinated braking force control and ensure smooth braking intensity.