With　the　development　of　the　global　automotive　industry,　environmental　pollution　and　driving　safety　have　been　major　problems.　This　paper　focuses　on　a　novel　integrated　cooperative　antilock　braking　system　(ABS)　controller,　which　is　used　for　antilock　regenerative　braking　systems　(ARBS)　and　antilock　mechanical　braking　systems　(AMBS)　for　hybrid　electric　vehicles　(HEV)　driving　on　different　road　surfaces.　An　intelligent　tire　system　is　utilized　to　detect　varying　road　surfaces　to　obtain　friction　information　and　optimal　operation　slip　ratio.　In　addition,　the　HEV　eight-degree-of-freedom　dynamics　model　is　developed　for　ABS　control,　which　includes　the　LuGre　tire　model.　Adaptive　backstepping　and　finite　state　machine　controllers　are　explored　to　maintain　optimal　wheel　slip　and　regenerate　energy,　based　on　wheel　slip,　battery　state　of　charge　(SOC),　motor　capability　torque,　and　vehicle　velocity,　and　to　develop　the　switching　rules　of　regenerative　and　mechanical　braking　systems.　In　order　to　evaluate　the　performance　of　regenerative　and　mechanical　braking　systems　on　harvesting　energy　and　driving　safety,　the　HEV　and　LuGre　dynamic　tire　models　are　developed　in　MATLAB　SIMULINK　/SimDriveline.　The　estimation　results　of　different　road　surfaces　and　slip　controller　effects　are　tested　via　the　experiments　and　simulations,　finding　good　braking　performances　and　high　regenerative　efficiency　in　different　maneuvers.