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.