Distributed drive electric vehicles use hub motors to independently drive each wheel, without the need for a centralized single motor and mechanical transmission structure. This places higher demands on body stability control during braking. The braking stability control of electric vehicles with hub motors mainly depends on the optimal distribution of front and rear braking forces, compliance with ECE braking regulations, direct yaw moment control, and other single or multiple factors to regulate the distribution of electric/mechanical composite braking force. In addition, when combined with existing functions such as anti-lock braking, hub motor driven vehicles achieve control objectives for stability and safety during braking conditions.