A new control strategy was proposed by integrating active front steering and electro-hydraulic braking in distributed electric drive vehicles to ensure vehicle active safety by taking into account braking energy recuperation.The AFS controller was synthesized by means of sliding mode control.The wheel slip controller was designed with a hierarchical control structure.In the upper layer, sliding mode extremum-seeking algorithm was adopted to obtain the desired braking torque, and a dynamic control allocator considering different actuators bandwidths was employed to determine the optimal split between the electric and friction brake torque in the middle layer.In the lower layer, a hybrid actuator system consisting of the hydraulic brake and the electrical motor was designed on the basis of actuator position and rate constraints.The wheel slip control law was modified by introducing the road wheel angle factor considering the strongly coupled dynamics of steering and braking systems when braking-in-turn.Simulation results obtained with a 7-DoF vehicle model in MATLAB/Simulink environment have shown that the control strategy can significantly enhance vehicle directional stability and ensure braking energy recovery in split-μ straight-line braking, and can better track ideal yaw rate with vehicle lateral stability improvement when cornering.