To reduce the consumption of the fuel resources and exhaust gas emission, substituting electric vehicles for combustion engine ones has become a trend. While compared to combustion engine vehicles, there are several drawbacks that affect the popularization of electric vehicles. For example, the endurance mileage of electric vehicles is much less than combustion engine ones due to the low energy density of the battery. It is difficult to have a quick break in energy storage technologies, so the regenerative braking technology, which can increase the endurance mileage effectively with low cost, is quite important for electric vehicles. For safety reasons stated in ECE-R13 regulation, we have to do some limit on the regenerative braking torque.