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Regenerative braking system is the own system of electric and hybrid electric vehicle. The system can restore the kinetic energy and potential energy, used during start and accelerating, into battery through electrical machine. The total brake force is composed of friction brake force on front axel, friction brake force on rear axel and regenerative brake force when a vehicle equipped with regenerative braking system brakes. A control strategy, parallel regenerative brake strategy, was proposed to resolve the distribution of the three forces. The parallel regenerative brake strategy was optimized on Saturn SL1 and then simulated under urban 15 drive cycle. As a result, through optimization the parallel brake strategy is not only safe enough but also can restore the largest amount of the brake energy.