In order to improve the performance and reliability of intelligent automatic braking system and the braking performance of traditional hydraulic braking system, on the basis of active collision avoidance system, a parallel electro-hydraulic anti-collision automatic braking system was designed based on the traditional hydraulic braking system, its mathematical model in the state of supercharging and decompression was also established. In view of the parameter perturbation and non-linear time-varying characteristics of vehicle dynamics, and also considered the vehicle in the process of vehicle quality changes and brake disc-brake pads friction coefficient changes, the μ control strategy was proposed to control the brake line pressure, an electronic control hydraulic brake controller based on μ control strategy and controller performance indicators were designed to simulate the performance of the controller under the influence of parameters perturbation and external disturbance, and the μ control strategy was compared with the H∞ control strategy. The results showed that the electronic control hydraulic braking system with μ control algorithm can control the steady-state errors of expected accelerations of the whole vehicle within 5% under the conditions of 30% increase in the mass of the whole vehicle and 30% decrease in the friction coefficient of the brake disc—friction disc. The stabilization time was 1.7s and 1.4s, respectively, indicating the accuracy of the model was high, which solved the influence of parameter perturbation and sensor noise on the performance of controller in the electronic control hydraulic braking system.