I. Introduction
The issue of environmental pollution and the energy crisis has become more severe, leading to increased attention on electric vehicles (EVs) in many countries for research and development purposes. The majority of sustainable solutions designed for EVs are founded on two pillars: energy efficiency and safety [1]. The hybrid anti-lock braking system (HABS) which comprises both regenerative and hydraulic brakes is a primary option among these solutions. HABS is composed primarily of four elements. The wheel slip controller, which determines the necessary amount of braking torque for safe vehicle braking [2]. The electric motor, responsible for providing regenerative braking torque [3]– [4]. The hydraulic brake, which delivers friction braking torque to the wheels [5]. The torque allocator, which executes a proper braking torque distribution strategy to guarantee safe braking and increased energy recovery [6].