An assist regenerative braking system based on neural network was proposed to combine driving safety and braking energy recovery. An experiments-based fuzzy neural network of the vehicle braking was established to ensure driving safety. The look-up table of the regenerative and friction braking force was achieved through calculation. The fuzzy neural network and the look-up table were inserted in the braking system with a proportion valve to accomplish the assist regenerative braking system. The simulation results in Simulink have shown that the braking system can assist braking effectively, avoid rear-end collision and can adequately recycle braking energy.