With series regenerative braking system of electric vehicle as the object of study, by the analyses on braking energy and braking regulations, the safe operation range of electro-hydraulic hybrid regenerative braking is theoretically determined, and with concurrent consideration of motor regenerative braking and battery charging power, a mathematical model for the optimization of regenerative braking is established. Based on the theory of hy-brid system and the model for hybrid automata, the regenerative braking system is visually described and a regenera-tive braking control strategy is proposed with coordinated control between motor regenerative braking force and the hydraulic braking forces on front and rear wheels, and a simulation is conducted on control model. The results indi-cate that the regenerative braking control strategy proposed increases the proportion of motor regenerative braking and thus enhance the recovery rate of vehicle braking energy in braking process.%以电动汽车串联式再生制动系统为研究对象，通过对制动能量和制动法规的分析，从理论上确定了电液复合再生制动的安全运行范围，并综合考虑电机再生制动和电池充电功率，建立了再生制动优化问题的数学模型。基于混合系统理论，利用混合自动机模型，直观描述了再生制动系统，提出了电机再生制动力和前后轮液压制动力协调控制的再生制动控制策略，并对控制模型进行了仿真分析。结果表明，该再生制动控制策略在制动过程中增加了电机再生制动的比例，从而提高了汽车制动能量的回收率。
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