An electro-hydraulic parallel brake scheme based on Anti-lock Braking System (ABS) is proposed. Taking advantage of the hydraulic control unit of ABS, the regenerative brake is preferentially adopted as far as possible on the premise of braking safety. Then, a detailed brake system model including ABS unit is built using the joint simulation technology of AMEsim and Matlab, the parallel brake control logic is validated on this model. Finally, methods for the coordination between parallel brake system and ABS are analyzed.