In order to study the anti-lock braking control mechanism of the electromagnetic and frictional integrated brake system and improve the anti-lock braking control performance, the anti-lock braking model was established. And the layered coordinated antilock control method was put forward according to the braking control features of electromagnetic brake and electronic hydraulic brake. The hardware in the loop simulation platform of electromagnetic and frictional integrated brake system was used to verify the validity of this mathematical model. The comparative study which simulated the dry asphalt, ice and snow and docking pavement was carried out on the anti-lock braking performance of electromagnetic and frictional integrated brake system, high-performance and low-performance electronic hydraulic brake system. Conclusions are obtained as follows: using the electromagnetic brake to control the optimal slip ratio in the process of antilock control could fully realize the same anti-lock control effect of high-performance electronic hydraulic brake system with a certain amout of braking intensity provided by low-performance electronic hydraulic brake system. In the design process of the electromagnetic and frictional integrated brake system, the reasonable match of braking performance of electromagnetic brake and electronic hydraulic brake minimizing reliance on the hydraulic control elements of the electronic hydraulic brake would reduce the manufacturing difficulty and cost of the electromagnetic and frictional integrated brake system.