EHB控制器模型首先接受車輛模型傳來的縱向加速度和輪速，估計參考車速。同時接受方向盤轉角，橫擺角速度、側向加速度，利用估計的參考車速估計質心側偏角。汽車穩定行駛時，目標制動力矩與制動踏板位移成比例關係。汽車失穩時，EHB係統主要的控制對象是汽車的橫擺角速度和質心側偏角。其中橫擺角速度控制模塊採用PD控制方法，控制實際橫擺角與理想二自由度橫擺角之間的偏差，輸出為目標制動力矩。質心側偏角控制採用門限值控制方法，根據超出門限的程度施加制動力矩。根據車輛運動狀態協調上述三種模式下的輸出量得到目標制動力矩。調用制動力矩—輪缸壓力模塊，計算出目標輪缸壓力，再轉入開關電磁閥數字PID控制模塊，輸出電磁閥的佔空比。
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