By adding a hydraulic variable pump,two hub motors and an accumulator to a traditional rear-drive heavy vehicle,a new hydraulic hub-motor hybrid system was built,and the auxiliary drive and regenerative braking can be realized based on accumulator. Firstly,the flow controller of accumulator bleeder valve was designed based on the vehicle optimum slip efficiency to achieve coordinating control of vehicle driving force. And then,according to synthetic judgment of the feedback signals for the opening of the accelerator pedal,the opening of the brake pedal and the accumulator pressure,the driving and braking mode switching rules were divided. Moreover,the auxiliary driving and regenerative braking control strategy was developed. Finally,the control algorithm was simulated at the test driving cycle of prototype vehicle by co-simulation platform of MATLAB/Simulink and AMESim. According to the simulation results at the test driving cycle of prototype vehicle,the coordinated switch of operation mode was realized,and the vehicle power performance and fuel economy were obviously improved. Compared with the traditional trucks,the ratio of oil saving is up to 10.5%,and the maximum grade ability is increased by 10%~40% at different adhesion coefficient road.