Undercomplex working conditions, the vehicle may suffer from sideslip and tail flick problems during an emergency braking. In order to improve the stability of vehicle during emergency braking,an electrohydraulic composite braking stability control system is proposed.To this end, thehierarchical controlstructure is adopted in this paper. In detail, the upperloop motion controller gives out the expected state of the vehicle according to the motion parameters and the driver’s intention. And the lowerloop is used to allocatethe braking pressure and the yaw moment with respect to the collaborative control decisionmaking module. In this way, the stability of the braking vehicle can be properly adjusted. Finally, joint simulation is carried out by Simulink and CarSim. Simulation results demonstrate that, the proposed hierarchical control strategy can guaranteethebraking efficiency, and also improve the directional stability, control accuracy and robustness of the vehicle.