Abstract: In order to improve the regenerative braking energy utilization rate and braking safety of hybrid electric vehicle, and promote driving range, a regenerative braking cooperative control method based on multi-agent was proposed. Interactive cooperative control regenerative braking system agent and sub-agent model were constructed. By receiving the braking condition information, agent of system sends SOC (State of Charge, SOC) to battery agent, and then sends the braking force distribution coefficient and braking strength coefficient to the wheel agent and the motor agent. Taking the highest working efficiency as its goal, sub-agents interacted with other agents and fed back their tasks to the system agent in real time, based on its own operating conditions. The simulation model of the regenerative braking system was built with the MATLAB/Simulink platform. CYC_UDDS operating conditions were simulated and verified. The results show that motor regenerative braking force and mechanical braking force are apportioned appropriately, charging current is controlled within a normal range, battery SOC increases by 23% and utilization rate of braking energy reaches 17.43% during braking process, which indicates the feasibility and effectiveness of the proposed method.